1P1-Q02 Development of Real-Time Control System of Humanoid Robot HOAP-2 Based on the Linux Real-Time Preempt and Application by using RT-Components(RT Middleware and Open System)

Abstract

This paper presents an application by using RT-Components for a real-time control system of humanoid robot HOAP-2. The conventional control system of HOAP-2 is based on the RTLinux. However, RTLinux cannot be applied to the OSs developed recently. Therefore, the control system of HOAP-2 based on the Linux real-time preempt have been developed using RT-Middleware. And the experimental result for real-time capability of the control system is presented.