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This paper describes the design and implementation of reconfigurable modular humanoid robot architecture. Our proposed architecture features three key concepts: 1) a reconfigurable mechanical structure; 2) a layered software model; and 3) an end-to-end real-time communication mechanism. Our proposed reconfigurable modular humanoid robot consists of several(More)
This paper describes the design and implementation of functionally distributed control architecture for real-time control of robot systems. Robot systems must control several functions in parallel for decision, action, and recognition. In order to fulfill this requirement , we propose the architecture based on par-allel/distributed control. The robot system(More)
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