Implementation of Middleware for Real-Time Distributed Control System of a Humanoid Robot Using CAN and TCP/IP

휴머노이드 로봇 ISHURO-II의 실시간 분산 제어를 위한 미들웨어 구현

This paper deals with implementation of middleware using CAN(Controller Area Network) network and TCP/IP for real-time distributed control system of a humanoid robot. Existent system using CAN network is available. But, there is problems in extensibility and flexibility. In this raper, the new system using TCP/IP for solution and improvement of problems is proposed. The new system is applied to ISHURO-II, real-humanoid robot. The performance is verified through experiment.