Paper Info
Title
High-Frequency Multi Bus Servo and Sensor Communication Using the Dynamixel Protocol.
Abstract
High-frequency control loops are necessary to improve agility and reactiveness of robots. One of the common limiting bottlenecks is the communication with the hardware, i.e., reading of sensors values and writing of actuator commands. In this paper, we investigate the performance of devices using the widespread Robotis Dynamixel protocol via an RS-485 bus. Due to the limitations of current approaches, we present a new multi-bus solution which enables typical humanoid robots used in RoboCup to have a control loop frequency of more than 1 kHz. Additionally, we present solutions to integrate sensors into this bus with high update rates.
Year
DOI
Venue
2019
10.1007/978-3-030-35699-6_2
RoboCup
Field
DocType
Citations 
DYNAMIXEL,Servo,Computer science,Simulation,Control engineering,Artificial intelligence,Control system,Robot,Robotics,Limiting,Humanoid robot,Actuator
Conference
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Marc Bestmann100.34
Jasper Güldenstein200.34
Jianwei Zhang335371.98