The real-time embedded system for a humanoid: Betty

Meng Cheng Lau, Jacky Baltes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper investigates the efficiency of the real-time embedded system in our humanoid robot, Betty. In this paper we only discuss the upper body of Betty. Based on several experiments of different queue data structures, communication protocols and PID controller implementations, we measured and analysed the latencies and jitters of Betty's responses. The experimental results indicate the best configuration to optimise the performance of Betty's Control Program.

Original languageEnglish
Title of host publicationCommunications in Computer and Information Science
Pages122-129
Number of pages8
Volume103 CCIS
DOIs
Publication statusPublished - 2010
Externally publishedYes
Event13th FIRA Robot World Congress on Trends in Intelligent Robotics, FIRA 2010 - Bangalore
Duration: 15 Sep 201017 Sep 2010

Publication series

NameCommunications in Computer and Information Science
Volume103 CCIS
ISSN (Print)18650929

Other

Other13th FIRA Robot World Congress on Trends in Intelligent Robotics, FIRA 2010
CityBangalore
Period15/9/1017/9/10

Fingerprint

Real time systems
Jitter
Embedded systems
Data structures
Robots
Network protocols
Controllers
Experiments

Keywords

  • Communication protocol
  • jitter and latency
  • Preemptive real-time kernel
  • queue data structure

ASJC Scopus subject areas

  • Computer Science(all)

Cite this

Lau, M. C., & Baltes, J. (2010). The real-time embedded system for a humanoid: Betty. In Communications in Computer and Information Science (Vol. 103 CCIS, pp. 122-129). (Communications in Computer and Information Science; Vol. 103 CCIS). https://doi.org/10.1007/978-3-642-15810-0_16

The real-time embedded system for a humanoid : Betty. / Lau, Meng Cheng; Baltes, Jacky.

Communications in Computer and Information Science. Vol. 103 CCIS 2010. p. 122-129 (Communications in Computer and Information Science; Vol. 103 CCIS).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Lau, MC & Baltes, J 2010, The real-time embedded system for a humanoid: Betty. in Communications in Computer and Information Science. vol. 103 CCIS, Communications in Computer and Information Science, vol. 103 CCIS, pp. 122-129, 13th FIRA Robot World Congress on Trends in Intelligent Robotics, FIRA 2010, Bangalore, 15/9/10. https://doi.org/10.1007/978-3-642-15810-0_16
Lau MC, Baltes J. The real-time embedded system for a humanoid: Betty. In Communications in Computer and Information Science. Vol. 103 CCIS. 2010. p. 122-129. (Communications in Computer and Information Science). https://doi.org/10.1007/978-3-642-15810-0_16
Lau, Meng Cheng ; Baltes, Jacky. / The real-time embedded system for a humanoid : Betty. Communications in Computer and Information Science. Vol. 103 CCIS 2010. pp. 122-129 (Communications in Computer and Information Science).
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