IMPLEMENTATION OF A REAL-TIME COMMUNICATION SYSTEM FOR HUMANOID ROBOTS USING THE GROUPSYNC FEATURE IN DYNAMIXEL PROTOCOL 2.0
DOI:
https://doi.org/10.36563/33p5je28Keywords:
humanoid robot, real-time communication, Dynamixel Protocol 2.0, synchronization, GroupSyncAbstract
This study presents the implementation of a real-time communication system for humanoid robots using the GroupSync feature of Dynamixel Protocol 2.0. The purpose of this research is to enhance synchronization accuracy and reduce communication latency in multi-actuator control systems for humanoid dance robots. The proposed system integrates a Raspberry Pi 5 controller with a Dynamixel U2D2 bridge to coordinate multiple Dynamixel XM-430 and XL-320 actuators through RS-485 and TTL buses. The experiment was conducted through thirty test iterations to evaluate latency, communication stability, and synchronization precision. The results demonstrate that the system achieved an average transmission delay of less than 150 microseconds and reduced latency by up to 47% compared to standard synchronous methods. Furthermore, actuator synchronization maintained temporal precision within ±0.3 milliseconds, ensuring smooth and rhythmically consistent movements. These findings confirm that GroupSync-based communication effectively enhances data transmission efficiency and deterministic timing in humanoid robots. The research contributes a modular communication framework that can be adapted for other multi-actuator systems, offering a practical approach to improving real-time robotic performance and coordination.
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