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Flexible Signal-Oriented Hardware Abstraction for Rapid Prototyping of Robotic Systems.
Jörg, Stefan and Nickl, Mathias and Hirzinger, Gerhard (2006) Flexible Signal-Oriented Hardware Abstraction for Rapid Prototyping of Robotic Systems. In: Proceedings. IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS, RSJ International Conference on Intelligent Robots and Systems, 2006-10-09 - 2006-10-15, Beijing, China.
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Abstract
Diffuse and changing specifcations for the design of light-weight robots result in high design costs for the desired robotic system, especially the electronic modules and related software drivers. To reduce those costs, we created a fexible robot platform, consisting of FPGA joint modules that are connected by a high speed communication. To fully exploit the hardware fexibility, we introduce a fexible signal-oriented hardware abstraction that is based on a Signal Flow Oriented Middleware (SFMiddleware). SFMiddleware enables the transparent integration of changing joint hardware functionality with robot control applications. Utilizing a static system specifcation approach, we benefit from the abstraction of a middleware without the typical overhead of common middleware implementations. Thus, we achieve a small run-time footprint and control cycles of more than 10 kHz.
| Document Type: | Conference or Workshop Item (Paper) | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| Title: | Flexible Signal-Oriented Hardware Abstraction for Rapid Prototyping of Robotic Systems. | ||||||||
| Authors: |
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| Date: | 09 October 2006 | ||||||||
| Journal or Publication Title: | Proceedings | ||||||||
| Refereed publication: | Yes | ||||||||
| In ISI Web of Science: | No | ||||||||
| Publisher: | IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||
| Status: | Published | ||||||||
| Keywords: | Flexible Signal-Oriented Hardware, Rapid Prototyping, Robotic Systems | ||||||||
| Event Title: | IROS, RSJ International Conference on Intelligent Robots and Systems | ||||||||
| Event Location: | Beijing, China | ||||||||
| Event Type: | international Conference | ||||||||
| Event Dates: | 2006-10-09 - 2006-10-15 | ||||||||
| Organizer: | IEEE | ||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||
| HGF - Program: | Space | ||||||||
| HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | ||||||||
| DLR - Research area: | Space | ||||||||
| DLR - Program: | W SY - Technik für Raumfahrtsysteme | ||||||||
| DLR - Research theme (Project): | W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old) | ||||||||
| Location: | Oberpfaffenhofen | ||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics > Robotic Systems | ||||||||
| Deposited By: | Gabriele Beinhofer | ||||||||
| Deposited On: | 31 Aug 2007 | ||||||||
| Last Modified: | 27 Apr 2009 13:15 |
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