2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
   

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Paper ThB4.6

Barker, Owain (Carleton University), Beranek, Richard (Carleton University), Ahmadi, Mojtaba (Carleton University)

Design of a 13 Degree-Of-Freedom Biped Robot with a CAN-Based Distributed Digital Control System

Scheduled for presentation during the Regular Session "Legged Robot" (ThB4), Thursday, July 8, 2010, 14:40−15:00, Opus I

2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, July 6-9, 2010, Montréal, Canada

This information is tentative and subject to change. Compiled on June 19, 2018

Keywords Modeling and Design of Mechatonic Systems, Humanoid Robots, Design Optimization in Mechatronics

Abstract

The design of a 13 degree-of-freedom autonomous biped robot, ABL-B1 is presented. Actuation is provided by brushed motors coupled with harmonic drive gear heads. A Control Area Network (CAN) provides a central bus for communication between all the actuators and sensors in the system. CAN-enabled microcontrollers allow for a distributed digital control loop architecture. The control hardware is coupled with a modular software architecture, running on an embedded PC, giving the ABL-B1 platform the ability to be reconfigured with different control strategies and to operate in a fully autonomous manner.

 

 

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