Dual-Channel EtherCAT Control System for 33-DOF Humanoid Robot TOCABI
Multi-axis actuation robotics systems comprising many joints with a floating base require more stability and safety than fixed robots and thus require more considerations. In this paper, we describe the implementation of a real-time EtherCAT control system for the TOCABI humanoid robot with 33 degre...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10113634/ |
| _version_ | 1797829112024268800 |
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| author | Junewhee Ahn Suhan Park Jaehoon Sim Jaeheung Park |
| author_facet | Junewhee Ahn Suhan Park Jaehoon Sim Jaeheung Park |
| author_sort | Junewhee Ahn |
| collection | DOAJ |
| description | Multi-axis actuation robotics systems comprising many joints with a floating base require more stability and safety than fixed robots and thus require more considerations. In this paper, we describe the implementation of a real-time EtherCAT control system for the TOCABI humanoid robot with 33 degrees of freedom (DOFs) is described. The focus is on the development of a high-performing EtherCAT MainDevice, which enables control of the robot’s high DOF at fast communication cycles. We also explore the use of a dual-channel EtherCAT MainDevice as a redundancy mechanism to handle communication disruptions and show that this configuration reduces the burden on the communication network and increases the communication cycle, leading to good real-time performance. To demonstrate the advantages of the system, we examine the performance of the EtherCAT communication and evaluate the impact of RTnet on real-time performance, demonstrating that a high-performing EtherCAT MainDevice having hard real-time capabilities can be established using open-source software. The results of this work demonstrate the potential of using dual channels in EtherCAT MainDevice configurations and utilizing open-source software to implement low-cost EtherCAT MainDevice systems. The paper’s contribution to the field is its indication of developing stable robot systems with high DOF, which require hard real-time capability, even with open-source software. |
| first_indexed | 2024-04-09T13:15:12Z |
| format | Article |
| id | doaj.art-0b6c5fbd47264bab92cb0aab3bb4e935 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-09T13:15:12Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-0b6c5fbd47264bab92cb0aab3bb4e9352023-05-11T23:00:53ZengIEEEIEEE Access2169-35362023-01-0111442784428610.1109/ACCESS.2023.327204510113634Dual-Channel EtherCAT Control System for 33-DOF Humanoid Robot TOCABIJunewhee Ahn0Suhan Park1https://orcid.org/0000-0001-6094-0908Jaehoon Sim2https://orcid.org/0000-0002-0095-5953Jaeheung Park3https://orcid.org/0000-0002-5062-8264Department of Intelligence and Information, Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Republic of KoreaDepartment of Intelligence and Information, Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Republic of KoreaDepartment of Intelligence and Information, Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Republic of KoreaDepartment of Intelligence and Information, Graduate School of Convergence Science and Technology, ASRI, RICS, Seoul National University, Seoul, Republic of KoreaMulti-axis actuation robotics systems comprising many joints with a floating base require more stability and safety than fixed robots and thus require more considerations. In this paper, we describe the implementation of a real-time EtherCAT control system for the TOCABI humanoid robot with 33 degrees of freedom (DOFs) is described. The focus is on the development of a high-performing EtherCAT MainDevice, which enables control of the robot’s high DOF at fast communication cycles. We also explore the use of a dual-channel EtherCAT MainDevice as a redundancy mechanism to handle communication disruptions and show that this configuration reduces the burden on the communication network and increases the communication cycle, leading to good real-time performance. To demonstrate the advantages of the system, we examine the performance of the EtherCAT communication and evaluate the impact of RTnet on real-time performance, demonstrating that a high-performing EtherCAT MainDevice having hard real-time capabilities can be established using open-source software. The results of this work demonstrate the potential of using dual channels in EtherCAT MainDevice configurations and utilizing open-source software to implement low-cost EtherCAT MainDevice systems. The paper’s contribution to the field is its indication of developing stable robot systems with high DOF, which require hard real-time capability, even with open-source software.https://ieeexplore.ieee.org/document/10113634/Frameworkhumanoid robotreal-timerobot control system |
| spellingShingle | Junewhee Ahn Suhan Park Jaehoon Sim Jaeheung Park Dual-Channel EtherCAT Control System for 33-DOF Humanoid Robot TOCABI IEEE Access Framework humanoid robot real-time robot control system |
| title | Dual-Channel EtherCAT Control System for 33-DOF Humanoid Robot TOCABI |
| title_full | Dual-Channel EtherCAT Control System for 33-DOF Humanoid Robot TOCABI |
| title_fullStr | Dual-Channel EtherCAT Control System for 33-DOF Humanoid Robot TOCABI |
| title_full_unstemmed | Dual-Channel EtherCAT Control System for 33-DOF Humanoid Robot TOCABI |
| title_short | Dual-Channel EtherCAT Control System for 33-DOF Humanoid Robot TOCABI |
| title_sort | dual channel ethercat control system for 33 dof humanoid robot tocabi |
| topic | Framework humanoid robot real-time robot control system |
| url | https://ieeexplore.ieee.org/document/10113634/ |
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