Locomotion of a modular worm-like robot using a FPGA-based embedded microBlaze soft-processor
Entity
UAM. Departamento de Ingeniería InformáticaPublisher
Springer Berlin HeidelbergDate
2005Citation
10.1007/3-540-29461-9_85
Climbing and Walking Robots: Proceedings of the 7th International Conference CLAWAR 2004. Springer, 2005. 869-878
ISBN
978-3-540-22992-6 (print); 978-3-540-29461-0 (online)DOI
10.1007/3-540-29461-9_85Funded by
This research is supported by Project Number 07T/0052/2003-3 of the Consejería de Educación de la Comunidad Autónoma de Madrid, Spain.Editor's Version
http://dx.doi.org/10.1007/3-540-29461-9_85Subjects
Automation and Robotics; Control Engineering; Mechanical Engineering; Informática; TelecomunicacionesNote
The final publication is available at Springer via http://dx.doi.org/10.1007/3-540-29461-9_85Rights
© Springer-Verlag Berlin Heidelberg 2005Abstract
Modular reconfigurable robots offer the promise of more versatility, robustness, and low cost. They are composed of simple and small modules, capable of attach and detach one to each other. In this paper, a modular worm-like robot composed of a chain of 8 similar modules is presented. A travelling wave, that moves from the tail to the head, propels the robot forward. The positions of the articulations are calculated using the following parameters: waveform, amplitude, and wavelength. Instead of a conventional architecture, a FPGA-based soft-processor core is utilized. It includes a set of custom peripheral cores, written in VHDL. FPGAs make modular robots more versatile, adding some new featureas to the design of robots like reconfigurable control, hardware reuse, lower cost, fault-recovering, and software/hardware co-design.
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Google Scholar:González Gómez, Juan
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Aguayo Navarrete, Estanislao
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Boemo Svcalvinoni, Eduardo Iván
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