| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a framework and a method for controlling a robotic system using a distributed computer network. <P>SOLUTION: A humanoid robot has a plurality of compliant robotic joints, actuators, and other integrated system devices controllable in response to control data from various control points, and has sensors for measuring feedback data at the control points. The system includes a multi-level distributed control framework (DCF) for controlling integrated system components over multiple high-speed communication networks. The DCF has a plurality of first controllers each embedded in the integrated system components, e.g., the robotic joints, a second controller coordinating the components via the first controllers, and a third controller for transmitting a signal commanding performance of autonomous tasks to the second controller. <P>COPYRIGHT: (C)2011,JPO&INPIT</p> |
