Distributed embedded real-time ethernet platform for robots control

Li Wei Wu*, Jwu-Sheng Hu

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

This work proposes a distributed embedded control system architecture based on real-time Ethernet, to provide a uniform environment for integration of real-time control and information exchange. A novel TCP/IP-compatible Hardware Real-Time Protocol (HRTP) is proposed for realtime capability. This structure focuses on the design of the control network inside a robot. Using embedded Ethernet simplifies the integration of a real-time communications network of an intelligence-type robot system. Furthermore, a quadruped robot was designed and implemented to test the proposed framework.

Original languageEnglish
Title of host publicationProceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05
Pages370-375
Number of pages6
DOIs
StatePublished - 1 Dec 2005
Event2005 IEEE International Conference on Mechatronics, ICM '05 - Taipei, Taiwan
Duration: 10 Jul 200512 Jul 2005

Publication series

NameProceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05
Volume2005

Conference

Conference2005 IEEE International Conference on Mechatronics, ICM '05
CountryTaiwan
CityTaipei
Period10/07/0512/07/05

Keywords

  • Distributed Control System
  • Embedded Ethernet
  • Real-Time Protocol
  • Robot

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