Advanced Distributed Architecture for a Small Biped Robot Control

Abstract

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