Distributed controller for cooperative joint torque control of compact humanoid robots

Abstract- This paper describes the design issues of distributed control system for compact humanoid robots. First, structure of distributed servo controller is proposed which is connected to a real-time serial interface. This servo-controller system has torque control function by improving a servo-controller of a conventional radio-control servomechanism. By use of this proposed distributed controller, a compact humanoid robot with 22 degrees of freedom is made which has compliance control function. Experimental results give good evidence of the proposed distributed controller architecture