An alternative open architecture controller design for the Bioloid humanoid robot / ‘Aqilah Zainuddin … [et al.]

Zainuddin, ‘Aqilah and Ali, Badar and Ahmed, Mohamed and Md Zan, Md Mahfudz and Hashim, Habibah (2020) An alternative open architecture controller design for the Bioloid humanoid robot / ‘Aqilah Zainuddin … [et al.]. Journal of Electrical and Electronic Systems Research (JEESR), 16. pp. 1-9. ISSN 1985-5389

Abstract

Robot-based assistive technologies have in recent times, become an important research topic. Most commercial robots come with control systems which may support several types of user inputs/outputs, but usually provide support for application-specific motion control. In developing high level robotbased assistive application, there is a need for more open scheme for controller design. In this paper, a Raspberry Pi-based controller intended to extend the features of the commercial Bioloid humanoid robot was designed to provide an openarchitecture alternative than its proprietary controller, the CM530. Given that the custom-designed controller is more open and provide greater flexibility to developers, a comparison is also made towards its ability to provide better support in terms of control perspectives. The custom-designed controller provides better capabilities regarding to its open-architecture which gives an opportunity for other developers to delve further into the structure knowledge that helps many aspects of application development. The open characteristics of proposed controller consequently will enhance the controller potential/capabilities and can be utilized by other robots in future. The outcome of the experiments revealed that the open control system provided by the Raspberry Pi platform has slightly higher average power consumption which is 2.04W difference from CM-530 controller during the idle mode of 18 servomotors, but is able to provides better capabilities. As for dynamic servomotors, the average power difference recorded for single servomotor motion is 3.08W and 9.3W for multiple servomotors. All results were calculated and graphed using MATLAB R2015a software.

Metadata

Item Type: Article
Creators:
Creators
Email / ID Num.
Zainuddin, ‘Aqilah
aqilahzainuddin92@gmail.com
Ali, Badar
UNSPECIFIED
Ahmed, Mohamed
UNSPECIFIED
Md Zan, Md Mahfudz
UNSPECIFIED
Hashim, Habibah
UNSPECIFIED
Subjects: T Technology > TJ Mechanical engineering and machinery > Robotics. Robots. Manipulators (Mechanism)
T Technology > TJ Mechanical engineering and machinery > Robotics. Robots. Manipulators (Mechanism) > Control systems
Divisions: Universiti Teknologi MARA, Shah Alam > Faculty of Electrical Engineering
Journal or Publication Title: Journal of Electrical and Electronic Systems Research (JEESR)
UiTM Journal Collections: UiTM Journal > Journal of Electrical and Electronic Systems Research (JEESR)
ISSN: 1985-5389
Volume: 16
Page Range: pp. 1-9
Keywords: Bioloid robot, CM-530 controller, Raspberry Pi, AX-12 servomotors, Open architecture
Date: 2020
URI: https://ir.uitm.edu.my/id/eprint/41953
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