Distributed Real-Time Processing for Humanoid Robots

Matsui, Toshihiro; Hirukawa, Hirohisa; Ishikawa, Yuuichi; Yamasaki, Nobuyuki; Kagami, Satoshi; Kanehiro, Fumio; Saito, Hajime; Inamura, Tetsunari

doi:10.1109/rtcsa.2005.39

Cited by 18 publications

(15 citation statements)

References 12 publications

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“…As the Responsive Processor and the RMT Processor are practically used for various applications including distributed robot control [13], bilateral robot control [14], a sensor network [15], and distributed humanoid robot control [1], we show the basic real-time performance and characteristic of the Responsive Link. Table 2 shows trade-off between communication speed and power consumption on the Responsive Link implemented on the Responsive Processor.…”

Section: Discussionmentioning

confidence: 99%

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Responsive Link for Distributed Real-Time Processing

Yamasaki

2007

Innovative Architecture for Future Generation High-Performance Processors and Systems (IWIA 2007)

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In this paper, we design and implement Responsive Link, which is a real-time communication link, for distributed real-time systems including sensor-actuator networked systems, ubiquitous computing systems, robot systems, and mechatronic systems. In order to realize flexible real-time communications, the Responsive Link has many unique features including priority-based packet overtaking (the packet with higher priority overtakes other packets at each node.), separation of data transmission (data link) and event transmission (event link), independent routing of the data link and the event link, packet acceleration/deceleration using priority replacement (packet priority can be replaced with a new priority level at each node to accelerate/decelerate packets under distributed control.), prioritized routing (when multiple packets with different priority levels are sent to the same destination, the different route can be set to realize exclusive communication lines or detours.), dynamically variable link speed (800, 400, 200, 100, 50, 25, 12.5Mbaud), topology transparent, etc. The Responsive Link is implemented on the Responsive Processor and a few kinds of RMT Processors for distributed real-time systems. The Responsive Link is now under standardization at ISO/IEC JTC1 SC25.

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Section: Discussionmentioning

confidence: 99%

“…The RMT Processor is used for high-performance distributed real-time control systems including a multifunctional humanoid robot [1].…”

Section: º¾ Rmt Processormentioning

confidence: 99%

Responsive Link for Distributed Real-Time Processing

Yamasaki

2007

Innovative Architecture for Future Generation High-Performance Processors and Systems (IWIA 2007)

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“…Humanoids are now able to perform a variety of stable walking gaits [1], [2], [3], [4]. This has been addressed using a variety of techniques based on simplified models.…”

Section: Introductionmentioning

confidence: 99%

Trajectory generation of straightened knee walking for humanoid robot iCub

Tsagarikis

Caldwell

et al. 2010

2010 11th International Conference on Control Automation Robotics &Amp; Vision

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Abstract-Most humanoid robots walk with bent knees, which particularly requires high motor torques at knees and gives an unnatural walking manner. It is therefore essential to design a control method that produces a motion which is more energy efficient and natural comparable to those performed by humans. In this paper, we address this issue by modeling the virtual springdamper based on the cart-table model. This strategy utilizes the preview control, which generates the desired horizontal motion of the center of mass (COM), and the virtual spring-damper for generating the vertical COM motion. The theoretical feasibility of this hybrid strategy is demonstrated in Matlab simulation of a multi-body bipedal model. Knee joint patterns, ground reaction force (GRF) patterns, COM trajectories are presented. The successful walking gaits of the child humanoid "iCub" in the dynamic simulator validate the proposed scheme. The joint torques required by the proposed strategy are reduced, compared with the one required by the cart-table model.

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“…Humanoids are able to perform a variety of stable walking tasks [1], [2], [3], [4], [5]. Nevertheless, most of them walk with relatively small strides and slow speeds compared to humans.…”

Section: Introductionmentioning

confidence: 99%

Fast bipedal walk using large strides by modulating hip posture and toe-heel motion

Vanderborght

Tsagarakis

et al. 2010

2010 IEEE International Conference on Robotics and Biomimetics

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Typically most humanoid robots walk with relatively small strides even on the level ground, and consequently their walking speed is fairly slow compared to humans. One reason is that the constraint of the constant COM (Center of Mass) height, which is for decoupling the frontal and lateral motion, produces the characteristic bent knee feature of walking robots and requires higher motor torques. The other reason is the feet trajectory limitation which demands the feet remain parallel to the ground. The parallel foot placement feature, using no toe-off and heel-strike motions, means that robots have to lower their hip height to perform large strides. This paper studies a trajectory generation method that enables fast bipedal walking with large strides. We address this issue by formulating a hip pattern generator and a feet trajectory generator with toe-off and heel-strike motions, based on the preview control. This scheme is applied to a dynamic simulation of the child humanoid "iCub", which demonstrates successful gaits in large strides at the average speed from 1.08 km/h to 2.52 km/h.

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Distributed Real-Time Processing for Humanoid Robots

Abstract: Abstract

Cited by 18 publications

References 12 publications

Responsive Link for Distributed Real-Time Processing

Responsive Link for Distributed Real-Time Processing

Trajectory generation of straightened knee walking for humanoid robot iCub

Fast bipedal walk using large strides by modulating hip posture and toe-heel motion

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