Abstract
In this paper, we introduce the realization of a IEEE-1394 real-time distributed control system and a motor controller for a humanoid robot. The realization of the real-time distributed control system is executed in the humanoid robot MAHRU, developed by Korea Institute of Science and Technology. Also, we point out that bus reset problem of IEEE-1394 can result in a control break in a humanoid robot. By measuring the eye-diagram of the communication protocol, we check to deteriorate the communication environment of a robot. This results from interference of electromagnetic noises by high power motors and causes bus reset problem. We propose recovery remapping method as a solution of the problem. This way is to restore the IEEE-1394 communication environment by instantly bus remapping without the loss of control time.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
