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Multi-Process Control Software for HUBO2 Plus Robot
Conference proceeding   Open access

Multi-Process Control Software for HUBO2 Plus Robot

M. X. Grey, Neil Dantam, Daniel M. Lofaro, Aaron Bobick, Magnus Egerstedt, Paul Oh, Mike Stilman and IEEE
2013 IEEE INTERNATIONAL CONFERENCE ON TECHNOLOGIES FOR PRACTICAL ROBOT APPLICATIONS (TEPRA)
01 Jan 2013
DOI: https://doi.org/10.1109/TePRA.2013.6556374
Featured in Collection :   UN Sustainable Development Goals @ Drexel
url
http://hdl.handle.net/1853/49921View
SubmittedOpen Access (License Unspecified),  Open

Abstract

Engineering Engineering, Electrical & Electronic Robotics Science & Technology Technology
Humanoid robots require greater software reliability than traditional mechantronic systems if they are to perform useful tasks in typical human-oriented environments. This paper covers a software architecture which distributes the load of computation and control tasks over multiple processes, enabling fail-safes within the software. These fail-safes ensure that unexpected crashes or latency do not produce damaging behavior in the robot. The distribution also offers benefits for future software development by making the architecture modular and extensible. Utilizing a low-latency inter-process communication protocol (Ach), processes are able to communicate with high control frequencies. The key motivation of this software architecture is to provide a practical framework for safe and reliable humanoid robot software development. The authors test and verify this framework on a HUBO2 Plus humanoid robot.

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11 citations in Scopus

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Web of Science research areas
Engineering, Electrical & Electronic
Robotics
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