Real world issues with real-time control of MABEL: A platform for experimental control of bipedal locomotion

Jeffrey Koncsol, Koushil Sreenath, Hae Won Park

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

Abstract

This paper describes selected issues with the commissioning and implementation of a real-time control system for an experimental bipedal robot platform named MABEL at the University of Michigan. Real world issues with printed circuit board layout and manufacturing, replacement of third party components, and communication issues associated with the computer control system are discussed. Control system implementation issues such as cable stretching in the hip and knee joint drivetrains, sensor resolution issues, and problems with software implementation related to computer processing speed for control system throughput are also presented. We illustrate solutions to each of these specific issues. In addition to standard troubleshooting processes, several complex concepts that may aid any commissioning and implementation effort are noted. A summary and discussion of future work with the robot conclude the paper.

Original languageEnglish (US)
Title of host publication2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
Pages659-664
Number of pages6
DOIs
StatePublished - Dec 1 2010
Event2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010 - Nashville, TN, United States
Duration: Dec 6 2010Dec 8 2010

Publication series

Name2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010

Other

Other2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
CountryUnited States
CityNashville, TN
Period12/6/1012/8/10

Keywords

  • Bipedal robot
  • Real-time control
  • Sensor resolution
  • Troubleshooting

ASJC Scopus subject areas

  • Artificial Intelligence
  • Hardware and Architecture
  • Human-Computer Interaction

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  • Cite this

    Koncsol, J., Sreenath, K., & Park, H. W. (2010). Real world issues with real-time control of MABEL: A platform for experimental control of bipedal locomotion. In 2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010 (pp. 659-664). [5686308] (2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010). https://doi.org/10.1109/ICHR.2010.5686308