The specifications of data shared bus for humanoid robot system and the development of embedded CPU based motor controllers.

摘要

This paper presents the specifications of synchronous parallel bus based on a data integration architecture for multi-modal humanoid robot system and the development of embedded CPU based DC servo motor controllers. High-throughput, high-reliance, and low-latency communication for data sharing is strongly required in humanoid robot system. Thus we developed this bus system to transfer time-critical shared data on time, to enable expansion without losing real-time performance, to process control tasks in parallel, to reduce hardware space and excessive cables, and to reserve safety.