Architecture of a distributed humanoid robotics system "ALKETON-UlSU"

This article describes the architecture of the prototype humanoid robotic system "ALKETON-UlGU", developed at the Department of Telecommunication Technologies and Networks, Faculty of Mathematics, Information and Aviation Technologies, Ulyanovsk State University. The architecture consists of three main components: server, robots, client side. The list of software modules of components, the structure of the developed robots TEO, ARTI, EVA, and features of local and global connection of robots to the main server of the system are given.