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Development of Distributed Control System, Modularized Motor Controller for Expressive Robotic Head

  • Takuya Otani
  • Tatsuhiro Kishi
  • Przemyslaw Kryczka
  • Nobutsuna Endo
  • Kenji Hashimoto
  • Atsuo Takanishi
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 544)

Abstract

This paper describes the development of a distributed control system and a small motor controller unit modularized to a controller module and motor driver modules for a humanoid robot. The humanoid robot, KOBIAN, had a centralized control system. It was difficult to increase the number of motors because of PC’s I/O channel limit. We installed the distributed control system in the new head to increase the number of motors. Moreover, the modularized motor controller is developed to use in the various parts of the body. The small flexible motor controller is composed of a controller module and motor driver modules. Therefore, changing motor driver modules allows control of various components with the same controller module. This small motor controller unit can control 4 DC motors and read 8 channel of analog sensory data. We evaluated the performance of the developed motor controller and controlled the new robot’s head.

Keywords

Function Module Humanoid Robot Controller Module Ultrasonic Motor Motor Driver 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Bibliography

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Copyright information

© CISM, Udine 2013

Authors and Affiliations

  • Takuya Otani
    • 1
  • Tatsuhiro Kishi
    • 1
  • Przemyslaw Kryczka
    • 1
  • Nobutsuna Endo
    • 1
  • Kenji Hashimoto
    • 1
    • 2
  • Atsuo Takanishi
    • 2
    • 3
  1. 1.Graduate School of Science and EngineeringWaseda UniversityTokyoJapan
  2. 2.Department of Modern Mechanical EngineeringWaseda UniverityTokyoJapan
  3. 3.Humanoid Robotics Institute (HRI)Waseda UniversityTokyoJapan

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