Advanced Distributed Architecture for a Small Biped Robot Control M. Albero, F. Blanes, G. Benet, J.E. Simó, J. Coronel

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1 Advanced Distributed Architecture for a Small Biped Robot Control M. Albero, F. Blanes, G. Benet, J.E. Simó, J. Coronel Departamento de Informática de Sistemas y Computadores. (DISCA) Universidad Politécnica de Valencia. Camino de Vera s\n Valencia, Spain mialgil@doctor.upv.es, {pblanes,gbenet,pperez,jsimo}@disca.up.es, jocopa@doctor.upv.es Abstract In this paper, an advanced architecture for embedded control systems to be used in a mobile biped robot, called YABIRO-II, is presented. The robot has a total height of 55 cm, and a total weight of 4 Kg. Also, it has a total of 27 degrees of freedom (DOF). This number of joints enables YABIRO-II 1 to produce many different gait configurations, and is also suitable to test and validate the proposed distributed control architecture. This distributed architecture has been designed to obtain a high technological robot platform. Also, a real time software platform has been also developed to control the robot from an embedded-pc node, helped by a reliable dual- CAN network to distribute all the robot information between sensors and actuators nodes. Index Terms biped robots, distributed control, embedded systems and real-time systems. I. INTRODUCTION The use of advanced technology in the field of robotics has aroused among researchers great expectation about the biped robots and their human interaction. But quite more understanding on motion control through experimental studies is required to obtain human-like robot capabilities, as well as the ability to survive in human environments. Some of the main research groups in bipedal locomotion are working in these areas with robots from 1 to 1.6 meter high [1, 2, 3]. This means to increase budgets, testing areas and technological resources to produce a robot platform. This implies big experiment environments where safety must be preserved and it is complex to develop experiments. Because that reasons small and light biped robots offers a good option for groups in standard research labs. A small body, however, causes some constraints on the assembly (if we don t want to lose big robots mobility), then careful joint assignment is required to keep wide motion range for each. There have been several attempts to build small lightweight humanoid robots. Remote-brained robot approach proposed by Inaba et al. [4] released the robot body from heavy computers. Their bodies consist of tens of small servo DC motor module originally for radio-controlled toys, and have evolutes to humanoid types [5]. Using those series, Nagasaka et al. [6] realized various whole-body motions. On the same technology, Nordin et al. [7], Furuta et al. [8] and Yamasaki et al. [9] also developed low cost anthropomorphic robots. 1 This work is currently being developed with funds from the Kertrol project DPI C02-02 from Spanish Ministry of Education and Science. Fig. 1: YABIRO-II robot. This paper discusses a design methodology of small humanoid robot, and shows an overview of the main parts of the YABIRO-II robot deign and the technical features. This research has been focused to improve the control architecture, offering a communications network between all the actuators, sensors and control boards inside YABIRO-II, using dual- CAN bus. This means to obtain a small, low-cost biped robot platform with a powerful distributed control architecture where all the robot joints feedback signals, the actual state of all nodes, etc., can be known. The final goal of this design is to produce a robotic platform that can be used to design and test new control architectures, vision systems, humanoid behaviour, etc. and also to create an accessible platform. YABIRO-II robot has been designed with two main goals in mind. The first was to obtain a small-size, self-contained robot platform. The second goal was to develop a robot capable to move in a similar way humans do. Under these designs constraints YABIRO-II is X/06/$ IEEE 358 HUMANOIDS 06

2 self-contained, including all the necessary systems to achieve autonomous movements, control, and real world interaction. This paper is organized as follows. An outline of the YABIRO layout is given in Section 2. Hardware of the distribute architecture is commented in section 3. The real time communications protocol is shown and described in section 4. The main control platform is explained in the section 5. Finally, experimental results and conclusions are shown in sections 6 and 7 respectively. II. GENERAL ROBOT DESCRIPTION. A primary issue in robotics field is the environment perception and robot interaction. The configuration, accuracy, time response, etc., is a critical issue for biped robots where stability must be ensured in every moment. YABIRO-II implements a different set of systems to control the different actuators and to sense the robot posture, accelerations, forces, etc. A. Mechanical design. YABIRO-II has a total height of 55 cm, and a total weight of 4 Kg. The system is self-contained, holding aboard all the necessary systems to achieve autonomous movements, control, and real world interaction. YABIRO-II could operate up to 27 DOF. This number of DOF guarantees high mobility for the robot platform, and ensures a versatile locomotion. The DOF distribution is shown in Fig. 2a, where we can observe six DOF per leg, three for the trunk motion, five in each arm, and two for the vision subsystem. This DOF distribution, enables a large number of different movements, like walking, kicking to a ball, get up from floor and so on. a) Joint distribution. b)cad deign overview Fig. 2: YABIRO-II mechanical description. Humanoids design involves the needed to obtain a mechanical structure with a human appearance, in order to operate into a human real world. YABIRO-II mechanical structure provides a final design with structural proportions similar to humans, achieving a human appearance, illustrated in Fig. 2b. The range of motion for each joint is an important point too, for this reason, previously to YABIRO [10, 11] design we studied the human movements and the maximum mobility in each primary joint. And we applied these real human values to robot design process, providing self-design robot joints actuators with high level of capabilities. Finally YABIRO-II achieves different sets of movements in each joint, showed in Table 1. TABLE 1. JOINT MOVEMENTS IN YABIRO Joint Plane Degrees Ankle Sagital plane: ± 75º ± 55º Knee 110º Hip Sagital plane: Rotational plane -50º to 90º ± 55º Trunk Arm Sagital plane: Rotational plane Sagital plane: Rotational plane -90º to 90º ± 50º Another important point of the design process is the correct selection of the actuators. The weight of the actuators is quite significant, as they add up to about 60% of the total weight, and they should move correctly all the joints in the robot, for this reason we need to use a high ratio weight/torque actuators. Moreover, YABIRO-II has been also focused to obtain a low-cost platform. This means the use of standard parts as much as possible. For this reason, commercial DC servomotors with modified control circuitry have been used in the actuators of the robot, achieving up to 30 Kg/cm of torque in some of them. With this approach, each actuator fits into a small box and its final cost is reduced, two features of special interest for small robot designs. B. Power systems. YABIRO-II includes all the power systems in its platform in order to achieve autonomous operation. The power system is composed by the batteries and the power supply control board. This system gives to YABIRO total energy storage of 85 Watts-hour. This power system is divided into two: digital supply system (5V) and general drive supply (7.4V). Digital supply has been made up by a 14.8V-950mA/h lithium-polymer battery, together with a DC-DC converter with a stabilized output of 5V. This supplies all the digital nodes of YABIRO, and gives them a total running autonomy of 1 hour approx. 359

3 Fig. 3: Power supply board control. The general power supply system, involves two different batteries, one for each side of the robot. These two batteries are identical, with a nominal voltage of 7.4V and a capacity of 5Ampere-Hour, and made with lithium-polymer technology, and are directly connected to the different actuators systems, providing maximum peaks of power up to 700W. The overall supply system is managed by a special node board, showed in Fig.3, which includes the control of all the parameters in the supply system, and its monitoring. This board has been designed using an 8-bit microcontroller, which offers all the necessary to monitoring the parameters for each battery, and controls their status. All the measuring systems in the board use optocoupled electronics, to ensure galvanic isolation between the different supplies. The board is connected to YABIRO-II through an internal CAN network controller. Thus, the power node can communicate the status of the power system to all the nodes in the robot, and also, any authorized node can switch-on or switch-off the power supply by sending a special message through CAN. III. COMMUNICATION AND CONTROL ARCHITECTURE. Real time distributed control it is based on use of networks that provide communication support for sensors and actuators data accomplishing with temporal restrictions. A common solution for real time control in autonomous vehicles relays on filed buses which implies the use of shared communication link. When a set of nodes in a network shares the communication media, is necessary to establish a media access control (MAC), that in the case of real time control includes a temporary characterization. Control Area Network (CAN) offers from the temporal point of view a solution for media arbitration with priority assignment collision avoidance (CA) resolution in case of simultaneous media access. In YABIRO the communication architecture is based in two CAN networks one for the left side and another for the right as is showed in Fig 4. Both networks are linked through the special communication board and messages from one side can jump to the other side just setting a bit in the arbitration filed of the message. This double channel architecture increases the communication bandwidth compared with a single channel version. This feature allows minimizing the message period providing to control tasks updated data with 5 ms rate, improving control loops. Additionally isolating the global communication in a network for each robot side improves transmission quality, because the interferences and bus errors are not shared between two networks The node bus interaction is managed by the main control node, which has attached a PC104toCAN board. The main task of this board is to manage the passing messages between two robot networks, and give to a main CPU board communication services. There are a set of periodic and sporadic messages to retrieve sensor information and to control the actuators. The sporadic messages are used to start and stop the control in the microcontrollers. In this way the robot can alternate from a configuration to control phases. The main CPU board runs periodic communication task with 5 milliseconds period, which sends all the messages for all the motor control nodes in both. The last messages are two request messages (one for every network) that produces every node returns information about measured position or in the case of sensors (foot and inertial boards) the current state. All these messages (control and sensing) have use the CAN priority to media access, and off-line analysis performed of both networks at 1 Mb/sec gave good results in terms feasible plan to schedule all of them in the networks with 5 millisecond period. The communication architecture is completed with a WiFi-CAN bridge which allows connecting the robot to external nodes in a transparent way by using Wireless link and TCP/IP communication. With this feature the robot could be permanently monitorized and even teleoperated remotely. The bridge is based in a twin channel CAN microcontroller connected using an UART to the Wi-Fi module. Fig. 4: Network architecture schema. IV. ACTUATORS AND PERCEPTION. 360

4 A primary issue in the robotics field is how the perception system and robot actuators can interact between them. Parameters as accuracy, time response, etc. are crucial to achieve good interaction with the real world. YABIRO-II implements a different set of intelligent nodes to control the different actuators and to sense the robot posture, accelerations, forces, etc. A short description of some of the implemented nodes follows in next subsections. A. Intelligent Motor Control Board (IMCD). IMCD means the introduction of high level of control modules in small motor control systems. With the IMCD design YABIRO-II implements embedded nodes of small and powerful actuators. The electronic board is based in a 16bits DSP microprocessor, which can operate up to 30 MIPS. The node communications has been designed under YABIRO network constraints, implementing a CAN protocol. This embedded communication controller can operate up to 1 MByte baudrate, contributing to develop a distributed actuator platform with high communication capacities. With these features of calculus processing and communications, IMCD is capable to implements complex control algorithms, and share information with a slow time response. Currently IMCD implements a basic PD control algorithm to the position. This basic control algorithm enables us to check the correct node behavior. The final design implements a power H-bridge, which controls the coreless motor position and velocity. This power system is optocoupled from the digital control system, avoiding common problems with power noise in the communications and digital systems. Fig. 5: IMCD board embedded into a servomotor. The need to obtain a small control board is done by the dimensions of servomotor case in which must fit into. The Fig.5 shows the control board already mounted into the servomotor case. The resulting actuator system has a compactsize and high torque, together a high functionality and interconnectivity with the control system. B. Servo-Control Arm Board (SCAB). To achieve a human appearance, YABIRO-II has been designed with two complete arms, each one with their own position control boards (SCAB). Each SCAB are capable to manage up to 5 servomotors movements, through PWM output signals, and can be integrated into the YABIRO communication architecture. Fig. 6: SCAB board inside YABIRO torso. The SCAB has been designed to implement all control requirements for a 4-DOF robotic arm, and a grasp finger. Based in a 16bits DSP, the system is programmed to obtain a desired final point and the orientation in the robot space. To achieve this task, the module implements inverse kinematics equations. The SCAB can be running and outputting the signal control each 5ms, obtaining enough smooth movements. The system implements an open-loop control, because the use of commercial standard servos like actuators doesn t allow SCAB to know the actual position, and control it. SCAB systems are capable to connect with other nodes, through an inside CAN network controller. These nodes need the final position and orientation information in x-y-z robot coordinates, and obtain it from a network position messages. The system design has followed the same YABIRO s power system design criteria, having galvanic isolation between the power system and the digital control system. C. Foot Sensor Board. An important factor in robotic control systems is the correct and real feedback robot state, and this is especially true in bipeds, where an incorrect feedback signal could cause the robot to fall over. A basic concept, like Zero Moment Point (ZMP) [12], can be used to obtain a real estimation of the robot stability. For this reason, YABIRO-II implements a special design based on force sensors to measure the ZMP. We have designed an electronic board that can obtain the Y ZMP and X ZMP in each sample period without the complex computation process involved in mathematical ZMP equations. The board design is based on miniature force sensors resistors (FSR), with a low force range from 0 to 100N, and it s embedded on the robot foot, as Fig. 7 shows. 361

5 V. ACTUATORS AND PERCEPTION. Frequently, the main control of the whole distributed system resides into a single node. This node works in higher control layers than other nodes in the control system (sensors and actuators). This is especially frequent in robotic applications with hybrid deliberative-reactive control architectures. Normally, the main control node runs different tasks such as deliberative system control, sensor fusion, human interface, robot system supervision, etc. Fig. 7: Foot sensory board. The foot sensor board is based on the 8 bit PIC microcontroller. With this microcontroller we can measure up to 4 analog inputs from each force sensor, allowing a real-time robot balance evaluation. At the same time, the board can communicate all the sensor information via CAN network. D. Inertial Sensor Board. Inertial perception is also a relevant source of feedback information for balancing, dynamic and static robot locomotion. Usually these systems are based on accelerometers and gyroscopes, furnish information about the acceleration, position, and robot orientation [13, 14]. The inertial sensor board of YABIRO-II robot is based in a 16 bit DSP microcontroller, that allow to system to implement digital filters and digital data fusion. In order to obtain a reliable acceleration signal in less space, the accelerometer chosen was ADXL202E, which implements dual axis accelerometers. This accelerometer don t need external analog interfaces to connect with the microcontroller, its outputs are done in PWM signals, obtaining a digital measure proportional to accelerations. Also a digital compass can be added to the system. Inertial sensor board has two Philips KMZ51 digital compasses to obtain the real robot orientation. The accelerometer is used to measure the acceleration in each orthogonal axe, and then it can be used to measure the gravity with two orthogonal axes. The inside algorithms implements different digital filters and a fusion of the two axes values to compute the real robot orientation. The system can calculate the acceleration in each robot axes. The Fig.8 shows the behavior of the real and computed position for a 1 DOF robot arm experiment. Fig. 9: integration of main control board. To carry out some of these tasks, YABIRO-II includes a multi-tasking real time control platform, based on a Transmeta Crusoe processor board that has been embedded into the YABIRO-II torso, providing a complete robot control platform. In this embedded PC-board is running an RTLinux 3.0 real time kernel. The use of this kernel together with a Linux kernel makes possible the division between critical tasks and non-critical tasks in the same control system. YABIRO-II runs a great number of different tasks, with different time restrictions. Scalability and modularity are some of the main features of YABIRO-II control structure. To emphasize this idea, the RT layer implements different tasks across the RTLinux modules. Different set of advantages can be obtained using this programming model. Some of these are: dynamically loading of modules, the use of real time tools for modules communication, or a modular and scalable system. Fig. 8: Inertial sensor experiments. Fig. 10: RT-Linux tasks interaction. 362

6 Actually the RTLayer in YABIRO-II can manage a set of different tasks, like a RRI task, Trajectory Generator, Control task and Network Communication task (each one of them as an independent module). The communication between all these tasks is based on RT-buffers, while the communication protocol with the tasks in top layer has been made by RT- FIFOs. In Fig 10, a schema of different modules distribution and their communications can be observed. VI. CONCLUSIONS AND FUTURE WORK. This paper has presented the development of a small biped robot YABIRO-II prototype, including some humanoid design considerations. Robot designs includes main mechanical and structural components to support distributed control architecture based on intelligent control and sensor nodes linked with a real-time communication bus, based on a dual-can network. A basic platform experiments have been realized to check the correct functionality. Some of them are: - Evaluation of the correct functionality and power of the actuators, and their communications inside of the YABIRO-II control architecture. - Sensor experiments to evaluate the accuracy and reliability of the sensor data. - Real-time network communication have been tested in a real conditions network loads - The first movements of the platform have been tested, in order to check total robot mobility and robot modules interaction. Finally, the constructed prototype showed satisfactory functionality, both in the individual control position loops and also in the real-time response of the bus message communications into the multilayer robot control architecture. In order to improve YABIRO-II robot, the future works include to evaluate the developed YABIRO-II platform through a lot of real world experiments, as well as to develop new control architectures based on neural networks and intelligent control laws. These improvements can be helpful for developing small and low-cost biped robots. [7] P. Nordin and M.G. Nordahl. An evolutionary architecture for a humanoid robot. Proc. Of the IV Int. Symposium on Artificial Life and Robotics, [8] T. Furuta et al. Design and construction of a series of compact humanoid robots and development of biped walk control strategies. First IEEE- RAS Int. Conference on Humanoid Robots, [9] F. Yamasaki et al. PINO- The humanoid that walk. First IEEE-RAS Int. Conference on Humanoid Robots, [10] Albero M. et al. YABIRO, a new approach to small biped robots V Symposium on Intellignet Autonomous Vehicles [11] Albero M. et al. Distributed real-time architecture for small biped robot YABIRO. CIRA Int. Conference,, [12] Vukobratovic M. Zero Moment Point Thirty five year of its life. International Journal of Humanoid Robotics. Vol. 1, No 1, pp , [13] Albert-Jan Baerveldt et al. A low-cost and low-weight attitude estimation system for an autonomous helicopter. Halmstad University, Box 823 [14] Myungsoo Jun et al. State estimation of an autonomous helicopter using Kalman filtering., IROS Int. Conference, 1999 REFERENCES [1] K.Hirai et al. The development of Honda humanoid robot, IEEE Int. Conference on Robotics & Automation, 2001, pp [2] J. Yamaguchi et al. Development of a bipedal humanoid robot Control method of whole body comperative dynamic biped walking-. IEEE Int. Conference on Robotics & Automation, 1999, pp [3] S Kagami et al. Design and implementation of humanoid H6 and its application to remote operation. Experimental Robotics VII, lecture Notes in Control and information Sciences 271. Springer, [4] M. Inaba. Remote-brained robotics: Interfacing AT with real world behaviors. Proceedings of the VI International Symposium of Robotics Research, 1993, pp [5] M. Inaba et al. Design and implementation of a 35 DOF full body humanoid that can sit, stand up and grasp an object. Advanced robotics 1998, 12(1), pp [6] K. Nagasaka et al. Acquisition of visually guided swing motion based on genetic algorithms and neural networks in two-armed bipedal robot IEEE Int. Conference on Robotics & Automation, 1997, pp

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