Open architecture controller for a 22-DOF humanoid robot

Abstract

In this paper, an open architecture controller for a humanoid robot of 22 degrees of freedom is presented, substituting the manufacturer controller. A humanoid robot represents a complex challenge to control it due to its own structure and the environment in which it has to interact. In order to interact with the environment, it must ensure the performance of the humanoid robot motion through developing small tasks. The proposed open architecture controller defines the position and velocity of each motor, as well as the execution time from a task in a single data stream, according with the perception of the environment given by an artificial vision system which will be omitted in this paper. The open architecture controller was developed with a Raspberry Pi 2 using the C++ programming language to send the data stream to the servomotors of the humanoid robot. The experimental results demonstrate an improvement in the execution of servomotors tasks, thus, the overall humanoid robot performance is improved; the proposed open architecture controller demonstrates several advantages over the manufacturer controller because it is possible to execute several processes simultaneously in less time.