Distributed real-time control architecture for electrohydraulic humanoid robots
Abstract
PurposeThis paper aims to develop an adaptable control architecture for electrohydraulic humanoid robots (HYDRO & iuml;D) that emulate the functionality of the human nervous system. The developed control architecture overcomes the limitations of classical centralized and decentralized systems by distributing intelligence across controllers.Design/methodology/approachThe proposed solution is a distributed real-time control architecture with robot operating system (ROS). The joint controllers have the intelligence to make decisions, dominate their actuators and publish their state. The real-time capabilities are ensured in the master controller by using a Preempt-RT kernel beside open robot control software middleware to operate the real-time tasks and in the customized joint controllers by free real-time operating systems firmware. Systems can be either centralized, where all components are connected to a central unit or decentralized, where distributed units act as interfaces between the I/Os and the master controller when the master controller is without the ability to make decisions.FindingsThe proposed architecture establishes a versatile and adaptive control framework. It features a centralized hardware topology with a master PC and distributed joint controllers, while the software architecture adapts based on the task. It operates in a distributed manner for precise, force-independent motions and in a decentralized manner for tasks requiring compliance and force control. This design enables the examination of the sensorimotor loop at both low-level joint controllers and the high-level master controller.Originality/valueIt developed a control architecture emulating the functionality of the human nervous system. The experimental validations were performed on the HYDRO & iuml;D. The results demonstrated 50% advancements in the update rate compared to other humanoids and 30% in the latency of the master processor and the control tasks.
