共有メモリを用いた4脚ロボットの歩行システムのマルチプロセス化

抄録

The walking system of a quadruped robot must be able to respond quickly to changes in posture and the environment around the machine. In this study, a multi-process walking system was designed by configuring a program for each leg based on the originally existing single-process walking system in order to improve the immediacy of the walking system. In addition, this study used shared memory for inter-process communication to align the timing of each leg’s drive. Experiments were then conducted to compare the communication speeds using the single-process walking system and the multi-process walking system, and the results were presented and discussed.