Multi-Process Control Software for HUBO2 Plus Robot

Grey, M .X.; Dantam, Neil; Lofaro, Daniel M.; Bobick, Aaron F.; Egerstedt, Magnus B.; Oh, Paul; Stilman, Mike

Title:

Multi-Process Control Software for HUBO2 Plus Robot

dc.contributor.author	Grey, M .X.
dc.contributor.author	Dantam, Neil
dc.contributor.author	Lofaro, Daniel M.
dc.contributor.author	Bobick, Aaron F.
dc.contributor.author	Egerstedt, Magnus B.
dc.contributor.author	Oh, Paul
dc.contributor.author	Stilman, Mike
dc.contributor.corporatename	Georgia Institute of Technology. Center for Robotics and Intelligent Machines	en_US
dc.contributor.corporatename	Drexel University	en_US
dc.date.accessioned	2013-07-18T19:58:00Z
dc.date.available	2013-07-18T19:58:00Z
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 uses, in any current or future media, 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 component of this work in other works.	en_US
dc.description	Presented at the 5th Annual IEEE International Conference on Technologies for Practical Robot Applications (TePRA 2013), 22-23 April 2013, Woburn, MA.
dc.description	DOI: 10.1109/TePRA.2013.6556374
dc.description.abstract	Humanoid robots require greater software reliability than traditional mechantronic 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.embargo.terms	null	en_US
dc.identifier.citation	Grey, M.X.; Dantam, N.; Lofaro, D.M.; Bobick, A.; Egerstedt, M.; Oh, P. & Stilman, M. (2013). "Multi-Process Control Software for HUBO2 Plus Robot". IEEE International Conference on Technologies for Practical Robot Applications (TePRA 2013), 22-23 April 2013, pp.1-6.	en_US
dc.identifier.isbn	978-1-4673-6223-8
dc.identifier.issn	2325-0526 (print)
dc.identifier.uri	http://hdl.handle.net/1853/48458
dc.language.iso	en_US	en_US
dc.publisher	Georgia Institute of Technology	en_US
dc.publisher.original	Institute of Electrical and Electronics Engineers
dc.subject	Humanoid robot	en_US
dc.subject	Multiple processes	en_US
dc.subject	Real-time robot control	en_US
dc.subject	Robot planning and control	en_US
dc.title	Multi-Process Control Software for HUBO2 Plus Robot	en_US
dc.type	Text
dc.type.genre	Post-print
dc.type.genre	Proceedings
dspace.entity.type	Publication
local.contributor.author	Egerstedt, Magnus B.
local.contributor.corporatename	Humanoid Robotics Laboratory
relation.isAuthorOfPublication	dd4872d3-2e0d-435d-861d-a61559d2bcb6
relation.isOrgUnitOfPublication	05bf85fb-965e-425d-af8b-dbf56e0d9797