Distributed embedded real-time Ethernet platform for robots control

Abstract

This work proposes a distributed embedded control system architecture based on real-time Ethernet, to provide a uniform environment for integration of real-time control and information exchange. A novel TCP/IP-compatible Hardware Real-Time Protocol (HRTP) is proposed for real-time capability. This structure focuses on the design of the control network inside a robot. Using embedded Ethernet simplifies the integration of a real-time communications network of an intelligence-type robot system. Furthermore, a quadruped robot was designed and implemented to test the proposed framework.