Communication Protocols: ROS 2, EtherCAT, and Real-Time Networking for Humanoid Robot Subsystems

Key Points

• This research explores various communication protocols to enhance interactions among humanoid robot subsystems.
• Analyzed existing communication protocols: ROS 2 and EtherCAT.
• Evaluated real-time networking capabilities.
• Conducted simulations to assess subsystem performance under different protocols.
• Identified ROS 2 as more versatile for higher-level tasks.
• EtherCAT showed superior real-time capabilities for low-level control.
• Demonstrated enhanced coordination among subsystems using selected protocols.