M. Albero

Distributed real time architecture for small biped robot YABIRO

In this paper, we present a real time architecture for embedded control systems to be used in a mobile biped robot called YABIRO. The robot has a total of 14 degrees of freedom (DOF). This number of joints enables YABIRO to produce many different gait configurations, and is also suitable to test and validate the proposed real time control architecture. A new embedded intelligent motor controller (IMCD) has been also designed and implemented in each joint node of the distributed architecture, to work inside the real time network.

CAN-based distributed control architecture using the SCoCAN communication protocol

This paper describes the design and implementation of a CAN time-triggered based communication protocol named SCoCAN, (shared channel on CAN), intended for use in distributed control systems, as is the case of autonomous mobile robots. This protocol enables real time communication between different intelligent nodes (sensors, actuators and controllers). The SCoCAN protocol has been implemented in the YAIR robot nodes, producing minimum jitter in the sensor-control-actuator loops. This hybrid protocol follows a scheme between pure TTP (time triggered protocol) and ETP (event triggered protocol), that guarantees acceptable response times and is deterministic

Embedded Real-Time Ball Detection Unit for the YABIRO Biped Robot

Estimation of objects in a 3D space is a fundamental problem in computer vision and robotics. This paper describes an algorithm and its implementation for a vision module as a sensor of a biped robot (YABIRO). The embedded vision sensor is able to estimate the position of objects like spheres in 3D space. Objects are defined with their size and color in a model. The vision sensor detects the positions or at least the directions to the objects and stores them in a history. The algorithm includes a new voting system for detected objects, based on how trustable the detection was, and a new edge filter to terminate edges on the circle border for the circle detection. The systems frame rate depends on the area of interest and lies between 5 Hz and 20 Hz. With a mechanical size of 36times32mm it is smaller than a matchbox

Advanced Distributed Architecture for a Small Biped Robot Control

In this paper, an advanced architecture for embedded control systems to be used in a mobile biped robot, called YABIRO-II, is presented. The robot has a total height of 55 cm, and a total weight of 4 Kg. Also, it has a total of 27 degrees of freedom (DOF). This number of joints enables YABIRO-II to produce many different gait configurations, and is also suitable to test and validate the proposed distributed control architecture. This distributed architecture has been designed to obtain a high technological robot platform. Also, a real time software platform has been also developed to control the robot from an embedded-PC node, helped by a reliable dual-CAN network to distribute all the robot information between sensors and actuators nodes

An architecture to control mobile robots by means of code delegation and multi-agent systems

Abstract In this paper is presented an architecture to control mobile intelligent robots based on the hybrid reactive/deliberative paradigm. This architecture is multi-level and distributed, and their main components are mobile software agents that interact through a distributed blackboard communications system. These agents can run on processors on board or on fixed workstations depending on its real time constraints.

Low-cost Distributed Embedded Control Systems

Abstract This paper presents how a complex distributed control system can be inexpensively achieved using low-cost controllers. These controllers will be interconnected in a network with an open communication bus called CAN. The development of integrated circuit manufacturing technology has increased the power and performance of the microprocessors and microcontrollers as opposed to its price, and if they also have communication capabilities, they can be used to implement low-cost distributed control nodes. Nodes with different computer architectures (from 16 to 32 bits processors) could be combined as long as the complexity of a given application. This approach was tested in a simulated process, using a dsPIC TM (Microchip, 2006) microcontroller control implementation, supervised by an XScale microcomputer with a GPL (General Public License) real-time operating system as RTLinux.

BIPED ROBOT MONITORING USING A C.A.N. – WiFi BRIDGE

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 –YABIRO 1 – 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

Yabiro, a new approach for small biped robots

Abstract In this paper, we present a new biped robot design, called YABIRO. This is a small robot that can walk autonomously. We present a low cost robot platform with a structure based on low cost materials, like servomotors, inexpensive sensors, microcontrollers, etc. The robot has a total of 14 DOF. This number of joints enables YABIRO to produce many different gait configurations. The control system has been implemented on an embedded Power PC platform that is connected through a CAN network to a ZMP sensor system and a host PC. This control system implements a control architecture based on ZMP criteria. The goal of this design is to obtain a low cost and open platform for future research on bipedal robot systems.