Real-time control using ROS, Orocos, and EtherCAT


We would like to use Robot Operating System on ATRIAS, the bipedal robot we
are building (, but we
must have reliable real-time control at 1kHz, with communication over an
EtherCAT bus. We have assembled some software tools to enable this,
including the EtherLab driver and Orocos RTT to tie things all together in
real time. If you are interested in this discussion, please feel free to
join the Email list -- it has a brief history with one or two summaries of
working systems, but I hope we will have much more detailed discussions, or
receive pointers to other working systems.

You can sign up for the list here:

Soo-Hyun Yoo
Dynamic Robotics Lab
Oregon State University