オープンアーキテクチュアによる分散型汎用 : ロボットコントローラの開発

Abstract

This paper presents a robot controller that can be applied to various kinds of robots. We developed the CPU module, ADC module and DAC module. There are distributed by functions. The modules are connected by cascaded serial communication modules and placed near sensors and actuators. Then functions required for the controlling target robot can be chosen and a controller can be developed easily. The Module interface will open to the public that can be connected to the original modules for the robot controller. We used the controller for a quadruped, walking robot, Titan-VIII and validity was shown.