Abstract
Teleoperation and supervision of robotic systems are usually made through field buses and wired links. In this paper we present the teleoperation and supervision of a biped robot –YABIRO1– based on a wireless link. YABIRO uses two independent CAN networks for sensors and actuators control. With the development of specific devices we can monitor the state of the robot and, in addition, control its actions through a wireless link, applying the tunnelling technique for encapsulating CAN messages into a TCP/IP network with WiFi media. Copyright © 2007 IFAC
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