Dual-Channel EtherCAT Control System for 33-DOF Humanoid Robot TOCABI

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...

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Bibliographic Details
Main Authors: Junewhee Ahn, Suhan Park, Jaehoon Sim, Jaeheung Park
Format: Article
Language:English
Published: IEEE 2023-01-01
Series:IEEE Access
Subjects:
Framework
humanoid robot
real-time
robot control system
Online Access:https://ieeexplore.ieee.org/document/10113634/

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