人形机器人的电子系统（附录一）

song liu

17 Aug 2018 • 8 min read

JAXON\cite{1}

研发团队：JSK

硬件平台：X86_64 (4-core Core i7 2600K 3.40 GHz and 8GB memory)

通信方式：电机控制使用多路RS422(Baud rate for data transfer is 26.7 [Mbps], effective data transfer rate which contains error correction is about 4 [Mbps]).A 6-axis force sensor communicate with “Control PC” through another PCI board. A IMU sensor communicate with “Control PC” through USB-serial conversion adapter.

控制频率：1000Hz

控制方式：位置控制

软件环境：实时linux+OpenRTM+ROS

关节分布：脚（6DOF），手(8DOF)

HRP3L-JSK\cite{2,3}

研发团队：JSK

硬件平台：后期 X86_64 (4-core Core i7 2600K 3.40 GHz and 8GB memory)

通信方式：早期\cite{2}使用四路RS422 (控制电机与传感器)，六维力使用单独的一个PCI板。/ 后期\cite{3} 使用了ethercat控制电机，然后传感器继续用串口（可能也是RS422）为了兼容它自制的控制板，ethercat被一个设备中转至电机控制板

控制频率：早期（未知）/ 后期 1000Hz

软件环境：早期实时linux(artlinux) / 后期实时linux+OpenRTM+ROS

其他：SCHAFT Inc是JSK的

关节分布：脚（6DOF），无手

ICUB\cite{4,5}

研发团队：IIT

硬件平台：X86_64 (Intel Core 2 Duo 2.16 Ghz + 1GB DDR2-533/667 RAM)

通信方式：多路can，也可以ethernet

控制频率：大于1khz

软件环境：实时linux+YARP (也可以和ros)

控制方式：可以力矩控制

其他：CCUB

关节分布：脚（6DOF），手(7DOF)

ESCHER\cite{6}

研发团队：TREC (The Terrestrial Robotics Engineering & Controls Lab) at Virginia Tech

硬件平台：X86_64 (a quad-core i7 processor nominally operating at 3.2 GHz)

通信方式：四路can（电机与六维力）与多路RS485（舵机与传感器）与USB（九轴）等

控制频率：150Hz

软件环境：ROS(linux不知道是不是RT)

控制方式：可以力矩控制

其他：DARPA比赛 24/24 0分

关节分布：脚（6DOF），手(7DOF)

RoboSimian\cite{7}

研发团队：Jet Propulsion Laboratory

硬件平台：X86_64 (intel i7-4900MQ 2.8 GHz CPU and 16 GB of memory)

通信方式：ethercat

控制频率：1kHz(上层为串级控制，内环为1khz)

软件环境：实时linux

控制方式：位置控制

其他：DARPA比赛 5/24 7分

关节分布：每个Limb（7DOF）

WalkMan\cite{8}

研发团队：iit etc

硬件平台：X86_64 (intel i7)

通信方式：ethercat

控制频率：目前500hz 会实现到1khz

软件环境：软件环境与icub相似

控制方式：力矩控制

其他：DARPA比赛 17/24 2分

关节分布：脚（6DOF），手(7DOF)

DRC-HUBO+\cite{9,10}

研发团队：rainbow-robotics

硬件平台：X86_64 (Intel NUC i5 with SSD)

通信方式：四路can总线

控制频率： 200 Hz

软件环境：实时linux（使用xenomai）

控制方式：位置控制（很大可能）

其他：DARPA比赛 1/24 8分(KAIST) / DARPA比赛 8/24 6分(UNLV)

关节分布：脚（7DOF），手(8DOF)

THORMAN\cite{11,12}

研发团队：robotis

硬件平台：X86_64 (Intel i5 2.7 GHz quad core and 8 GB DDR3 RAM)

通信方式：多路RS485

控制频率： 100 Hz

软件环境：linux（不清楚实时）

控制方式：位置控制

其他：DARPA比赛 12/24 4分(SUN) / DARPA比赛 13/24 3分(THOR)

关节分布：脚（6DOF），手(7DOF)

valkyrie\cite{13}

研发团队：NASA JSC

硬件平台：X86_64 (i7-3615QE 2.3GHz + 16GB DDR3 1600)

通信方式：Robonet

控制频率： 1kHz

软件环境：实时linux

控制方式：力矩控制

关节分布：脚（5DOF），手(7DOF)

ACSELL\cite{14}

研发团队：Sandia Labs IHMC OSRF

硬件平台：X86_64 (i7)

通信方式：ETHERNET

控制频率： 1kHz

软件环境：实时linux + ROS

控制方式：力矩控制

软件源码：wandrr

关节分布：一共15DOF，无手

HRP-4\cite{15, 16}

研发团队：\href{http://global.kawada.jp/mechatronics/hrp4.html}{AIST KAWADA INDUSTRIES}

硬件平台：X86 (Intel® Pentium M® 1.6)

通信方式：多路can（10ch CAN IF Board）+ 一个独立的六维力控制板

控制频率： 200Hz

软件环境：实时linux + OpenRTM-aist

控制方式：位置控制

关节分布：脚（6DOF），手(7DOF)

LOLA\cite{17,18,19}

研发团队：TUM

硬件平台：X86_64 (Intel Core2 Duo Mobile, 2.33GHz)

通信方式：多路can

控制频率： 100Hz

软件环境：QNX real-time operating syste

控制方式：力矩控制

其他：具体数据见 Favot, V的毕业论文\cite{19}

关节分布：脚（7DOF），手(3DOF)

TALOS\cite{20}

研发团队：PAL-Robotics

硬件平台：X86_64 (dual i7 CPU at 2.8 GHz)

通信方式：ethercat

控制频率： 1kHz

软件环境：实时linux + ROS (并且关掉cpu的超线程 see: However, since the real-operating system used is RT-PREEMPT, only 4 CPUs are available on the control computer. They are anyway available on the computer for vision and high-level computation.)

控制方式：力矩控制

关节分布：脚（6DOF），手(7DOF)

DURUS\cite{21,22}

研发团队：AMBER LAB

硬件平台：X86_64 (Intel Core i7-3820QM processor (2.7 GHz) and 12 GB of RAM)(可能)

通信方式：ethercat

控制频率： 1kHz

软件环境：实时linux + matlab生成的实时代码

控制方式：力矩控制（欠驱动）

关节分布：脚（7DOF），无手

SAFFIR\cite{23}

研发团队：Office of Naval Research and Virginia Tech

硬件平台：X86_64 (AMD Embedded G-T56N, Dual-core 64 bit, 1.65 GHz 4 GB, DDR3, 1333 MHz)

通信方式：四路can

控制频率： 500Hz

软件环境：实时linux

控制方式：力矩控制

关节分布：脚（6DOF），手（6DOF）

ref

{1} Y. Kakiuchi, K. Kojima, E. Kuroiwa, S. Noda, M. Murooka, I. Kumagai, R. Ueda, F. Sugai, S. Nozawa, K. Okada, and M. Inaba, “Development of Humanoid Robot System for Disaster Response Through Team NEDO-JSK’s Approach to DARPA Robotics Challenge Finals,” in Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots, Nov. 2015, pp. 805–810.

{2} J. Urata, Y. Nakanishi, K. Okada, and M. Inaba, “Design of High Torque and High Speed Leg Module for High Power Humanoid,” in Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 2010, pp. 4497–4502.

{3} T. Shirai, K. Osawa, H. Chishiro, N. Yamasaki, and M. Inaba, “Design and Implementation of A High Power Robot Distributed Control System on Dependable Responsive Multithreaded Processor (D-RMTP),” in Proceedings of the 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, Oct. 2016, pp. 19–24.

{4} Natale, L., Paikan, A., Randazzo, M., & Domenichelli, D. E. (2016). The icub software architecture: evolution and lessons learned. Frontiers in Robotics and AI, 3, 24.

{5} Parmiggiani, A., Maggiali, M., Natale, L., Nori, F., Schmitz, A., Tsagarakis, N., ... & Metta, G. (2012). The design of the iCub humanoid robot. International journal of humanoid robotics, 9(04), 1250027.

{6} Knabe, C., Griffin, R., Burton, J., Cantor‐Cooke, G., Dantanarayana, L., Day, G., ... & Newton, J. (2017). Team VALOR's ESCHER: A Novel Electromechanical Biped for the DARPA Robotics Challenge. Journal of Field Robotics.

{7} Karumanchi, S., Edelberg, K., Baldwin, I., Nash, J., Reid, J., Bergh, C., ... & Newill‐Smith, D. (2017). Team RoboSimian: Semi‐autonomous Mobile Manipulation at the 2015 DARPA Robotics Challenge Finals. Journal of Field Robotics, 34(2), 305-332.

{8} Tsagarakis, N. G., Caldwell, D. G., Negrello, F., Choi, W., Baccelliere, L., Loc, V. G., ... & Natale, L. (2017). WALK‐MAN: A High‐Performance Humanoid Platform for Realistic Environments. Journal of Field Robotics, 34(7), 1225-1259.

{9} Lim, J., Lee, I., Shim, I., Jung, H., Joe, H. M., Bae, H., ... & Joo, K. (2017). Robot System of DRC‐HUBO+ and Control Strategy of Team KAIST in DARPA Robotics Challenge Finals. Journal of Field Robotics, 34(4), 802-829.

{10} Oh, P., Sohn, K., Jang, G., Jun, Y., & Cho, B. K. (2017). Technical Overview of Team DRC‐Hubo@ UNLV's Approach to the 2015 DARPA Robotics Challenge Finals. Journal of Field Robotics.

{11} Kim, S., Kim, M., Lee, J., Hwang, S., Chae, J., Park, B., ... & Shin, S. (2017). Team SNU's Control Strategies for Enhancing a Robot's Capability: Lessons from the 2015 DARPA Robotics Challenge Finals. Journal of Field Robotics, 34(2), 359-380.

{12} McGill, S. G., Yi, S. J., Yi, H., Ahn, M. S., Cho, S., Liu, K., ... & Hong, D. (2017). Team THOR's Entry in the DARPA Robotics Challenge Finals 2015. Journal of Field Robotics, 34(4), 775-801.

{13} Radford, N. A., Strawser, P., Hambuchen, K., Mehling, J. S., Verdeyen, W. K., Donnan, A. S., ... & Berka, R. (2015). Valkyrie: NASA's first bipedal humanoid robot. Journal of Field Robotics, 32(3), 397-419.

{14} ACSELL

{15} Kaneko, K., Kanehiro, F., Morisawa, M., Akachi, K., Miyamori, G., Hayashi, A., & Kanehira, N. (2011, September). Humanoid robot hrp-4-humanoid robotics platform with lightweight and slim body. In Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on (pp. 4400-4407). IEEE.

{16} Pajon, A., Caron, S., De Magistris, G., Miossec, S., & Kheddar, A. (2017). Walking on Gravel with Soft Soles using Linear Inverted Pendulum Tracking and Reaction Force Distribution.

{17} Lohmeier, S., Buschmann, T., & Ulbrich, H. (2009). System design and control of anthropomorphic walking robot LOLA. IEEE/ASME Transactions on Mechatronics, 14(6), 658-666.

{18} Lohmeier, S., Buschmann, T., Ulbrich, H., & Pfeiffer, F. (2009). Humanoid Robot LOLA—Research Platform for High-SpeedWalking. Motion and Vibration Control, 221-230.

{19} Favot, V. (2016). Hierarchical Joint Control of Humanoid Robots (Doctoral dissertation, Universität München).

{20} Stasse, O., Flayols, T., Budhiraja, R., Giraud-Esclasse, K., Carpentier, J., Del Prete, A., ... & Marchionni, L. (2017). TALOS: A new humanoid research platform targeted for industrial applications.

{21} Cousineau, E., & Ames, A. D. (2015, May). Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method. In Robotics and Automation (ICRA), 2015 IEEE International Conference on (pp. 5747-5753). IEEE.

{22} Hereid, A., Cousineau, E. A., Hubicki, C. M., & Ames, A. D. (2016, May). 3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics. In Robotics and Automation (ICRA), 2016 IEEE International Conference on (pp. 1447-1454). IEEE.

{23} Lahr, D., Orekhov, V., Lee, B., & Hong, D. (2013, August). Early developments of a parallelly actuated humanoid, SAFFiR. In ASME 2013 international design engineering technical conferences and computers and information in engineering conference (pp. V06BT07A054-V06BT07A054).

JAXON\cite{1}

HRP3L-JSK\cite{2,3}

ICUB\cite{4,5}

ESCHER\cite{6}

RoboSimian\cite{7}

WalkMan\cite{8}

DRC-HUBO+\cite{9,10}

THORMAN\cite{11,12}

valkyrie\cite{13}

ACSELL\cite{14}

HRP-4\cite{15, 16}

LOLA\cite{17,18,19}

TALOS\cite{20}

DURUS\cite{21,22}

SAFFIR\cite{23}

ref

{2} J. Urata, Y. Nakanishi, K. Okada, and M. Inaba, “Design of High Torque and High Speed Leg Module for High Power Humanoid,” in Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 2010, pp. 4497–4502.

{4} Natale, L., Paikan, A., Randazzo, M., & Domenichelli, D. E. (2016). The icub software architecture: evolution and lessons learned. Frontiers in Robotics and AI, 3, 24.

{5} Parmiggiani, A., Maggiali, M., Natale, L., Nori, F., Schmitz, A., Tsagarakis, N., ... & Metta, G. (2012). The design of the iCub humanoid robot. International journal of humanoid robotics, 9(04), 1250027.

{6} Knabe, C., Griffin, R., Burton, J., Cantor‐Cooke, G., Dantanarayana, L., Day, G., ... & Newton, J. (2017). Team VALOR's ESCHER: A Novel Electromechanical Biped for the DARPA Robotics Challenge. Journal of Field Robotics.

{7} Karumanchi, S., Edelberg, K., Baldwin, I., Nash, J., Reid, J., Bergh, C., ... & Newill‐Smith, D. (2017). Team RoboSimian: Semi‐autonomous Mobile Manipulation at the 2015 DARPA Robotics Challenge Finals. Journal of Field Robotics, 34(2), 305-332.

{8} Tsagarakis, N. G., Caldwell, D. G., Negrello, F., Choi, W., Baccelliere, L., Loc, V. G., ... & Natale, L. (2017). WALK‐MAN: A High‐Performance Humanoid Platform for Realistic Environments. Journal of Field Robotics, 34(7), 1225-1259.

{9} Lim, J., Lee, I., Shim, I., Jung, H., Joe, H. M., Bae, H., ... & Joo, K. (2017). Robot System of DRC‐HUBO+ and Control Strategy of Team KAIST in DARPA Robotics Challenge Finals. Journal of Field Robotics, 34(4), 802-829.

{10} Oh, P., Sohn, K., Jang, G., Jun, Y., & Cho, B. K. (2017). Technical Overview of Team DRC‐Hubo@ UNLV's Approach to the 2015 DARPA Robotics Challenge Finals. Journal of Field Robotics.

{11} Kim, S., Kim, M., Lee, J., Hwang, S., Chae, J., Park, B., ... & Shin, S. (2017). Team SNU's Control Strategies for Enhancing a Robot's Capability: Lessons from the 2015 DARPA Robotics Challenge Finals. Journal of Field Robotics, 34(2), 359-380.

{12} McGill, S. G., Yi, S. J., Yi, H., Ahn, M. S., Cho, S., Liu, K., ... & Hong, D. (2017). Team THOR's Entry in the DARPA Robotics Challenge Finals 2015. Journal of Field Robotics, 34(4), 775-801.

{13} Radford, N. A., Strawser, P., Hambuchen, K., Mehling, J. S., Verdeyen, W. K., Donnan, A. S., ... & Berka, R. (2015). Valkyrie: NASA's first bipedal humanoid robot. Journal of Field Robotics, 32(3), 397-419.

{14} ACSELL

{16} Pajon, A., Caron, S., De Magistris, G., Miossec, S., & Kheddar, A. (2017). Walking on Gravel with Soft Soles using Linear Inverted Pendulum Tracking and Reaction Force Distribution.

{17} Lohmeier, S., Buschmann, T., & Ulbrich, H. (2009). System design and control of anthropomorphic walking robot LOLA. IEEE/ASME Transactions on Mechatronics, 14(6), 658-666.

{18} Lohmeier, S., Buschmann, T., Ulbrich, H., & Pfeiffer, F. (2009). Humanoid Robot LOLA—Research Platform for High-SpeedWalking. Motion and Vibration Control, 221-230.

{19} Favot, V. (2016). Hierarchical Joint Control of Humanoid Robots (Doctoral dissertation, Universität München).

{20} Stasse, O., Flayols, T., Budhiraja, R., Giraud-Esclasse, K., Carpentier, J., Del Prete, A., ... & Marchionni, L. (2017). TALOS: A new humanoid research platform targeted for industrial applications.

{21} Cousineau, E., & Ames, A. D. (2015, May). Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method. In Robotics and Automation (ICRA), 2015 IEEE International Conference on (pp. 5747-5753). IEEE.

{22} Hereid, A., Cousineau, E. A., Hubicki, C. M., & Ames, A. D. (2016, May). 3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics. In Robotics and Automation (ICRA), 2016 IEEE International Conference on (pp. 1447-1454). IEEE.

{23} Lahr, D., Orekhov, V., Lee, B., & Hong, D. (2013, August). Early developments of a parallelly actuated humanoid, SAFFiR. In ASME 2013 international design engineering technical conferences and computers and information in engineering conference (pp. V06BT07A054-V06BT07A054).

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