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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:
AuthorsInstitution or Email of Authors
Jörg, StefanUNSPECIFIED
Nickl, MathiasUNSPECIFIED
Hirzinger, GerhardUNSPECIFIED
Date:9 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 (old)
HGF - Program:Space (old)
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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