지능형 로봇은 인간 생활 환경에서 작동하고 일반 소비자를 대상으로 한다는 점에서 기존의 산업용 로봇과는 다른 내부 구조를 가져야 한다. 또한 표준화된 개방 구조를 갖추어 로봇 전용의 부품 산업이 활성화 될 수 있도록 하여 결과적으로 로봇의 단가를 낮출 수 있어야 한다. 본 고에서는 공장자동화와 자동차 분야에서 먼저 도입되고 있는 버스 형태의 제어 통신망이 지능형 로봇 분야에서 어떤 이점을 제공하는지에 대해 살펴보고, 최근의 2족보행로봇에 성공적으로 적용되고 있는 대표적인 실시간 제어 통신망의 하나인 CAN에 대해 분석하고 CAN에 기반한 상위레벨 프로토콜을 소개한다.
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