Title:
Multi-Process Control Software for Humanoid Robots

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dc.contributor.author Grey, M. X. en_US
dc.contributor.author Dantam, Neil en_US
dc.contributor.author Lofaro, Daniel M. en_US
dc.contributor.author Bobick, Aaron F. en_US
dc.contributor.author Egerstedt, Magnus B. en_US
dc.contributor.author Oh, Paul en_US
dc.contributor.author Stilman, Mike en_US
dc.contributor.corporatename Drexel University en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Electrical and Computer Engineering en_US
dc.contributor.corporatename Georgia Institute of Technology. Georgia Robotics and InTelligent Systems Laboratory en_US
dc.contributor.corporatename Georgia Institute of Technology. Institute for Robotics and Intelligent Machines en_US
dc.date.accessioned 2013-12-20T16:44:36Z
dc.date.available 2013-12-20T16:44:36Z
dc.date.issued 2013-04
dc.description © 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. en_US
dc.description Presented at the 2013 IEEE International Conference on Technologies for Practical Robot Applications (TePRA), Woburn, MA, 22-23 April 2013. en_US
dc.description DOI: 10.1109/TePRA.2013.6556362. en_US
dc.description.abstract Humanoid robots require greater software reliability than traditional mechatronic systems if they are to perform useful tasks in typical human-oriented environments. This paper covers a software architecture which distributes the load of computation and control tasks over multiple processes, enabling fail-safes within the software. These fail-safes ensure that unexpected crashes or latency do not produce damaging behavior in the robot. The distribution also offers benefits for future software development by making the architecture modular and extensible. Utilizing a low-latency inter-process communication protocol (Ach), processes are able to communicate with high control frequencies. The key motivation of this software architecture is to provide a practical framework for safe and reliable humanoid robot software development. The authors test and verify this framework on a HUBO2 Plus humanoid robot. en_US
dc.identifier.citation M. Grey, N. Dantam, D. Lofaro, A. Bobick, M. Egerstedt, P. Oh, and M. Stilman. Multi-Process Control Software for Humanoid Robots. IEEE International Conference on Technologies for Practical Robot Applications, Boston, MA, April 2013, pp. 1-6. en_US
dc.identifier.doi 10.1109/TePRA.2013.6556374
dc.identifier.isbn 978-1-4673-6223-8
dc.identifier.issn 2325-0526
dc.identifier.uri http://hdl.handle.net/1853/49921
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original Institute of Electrical and Electronics Engineers en_US
dc.subject HUBO2 plus robot en_US
dc.subject Human-oriented environments en_US
dc.subject Humanoid robots en_US
dc.subject Multiprocess control software en_US
dc.title Multi-Process Control Software for Humanoid Robots en_US
dc.type Text
dc.type.genre Proceedings
dc.type.genre Post-print
dspace.entity.type Publication
local.contributor.author Egerstedt, Magnus B.
local.contributor.corporatename School of Electrical and Computer Engineering
local.contributor.corporatename College of Engineering
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relation.isOrgUnitOfPublication 5b7adef2-447c-4270-b9fc-846bd76f80f2
relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
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