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SpaceWire, A Backbone For Humanoid Robotic Systems

Nickl, Mathias and Jörg, Stefan and Bahls, Thomas and Nothhelfer, Alexander and Strasser, Stefan (2011) SpaceWire, A Backbone For Humanoid Robotic Systems. In: Proceedings of the 4th International SpaceWire Conference, pp. 356-359. Space Technology Centre, University of Dundee. International SpaceWire Conference, 8-10 Nov 2011, San Antonio, TX, USA. ISBN 978 0 9557196 3 9.

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Official URL: http://2011.spacewire-conference.org/

Abstract

The DLR Hand Arm System is an anthropomorphic system with 52 actuators and 430 sensors of different types. In order to maintain good performance the application must have the most direct access to all actuators and sensors. Therefore, a SpaceWire network connects FPGAs and CPUs and acts as real-time communication backbone. This publication focuses on the SpaceWire protocol implementation and the dedicated extensions that are defined for that system.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:SpaceWire, A Backbone For Humanoid Robotic Systems
Authors:
AuthorsInstitution or Email of Authors
Nickl, Mathiasmathias.nickl@dlr.de
Jörg, Stefanstefan.joerg@dlr.de
Bahls, Thomasthomas.bahls@DLR.de
Nothhelfer, Alexanderalexander.nothhelfer@dlr.de
Strasser, Stefanstefan.strasser@dlr.de
Date:November 2011
Journal or Publication Title:Proceedings of the 4th International SpaceWire Conference
Refereed publication:Yes
In Open Access:Yes
In ISI Web of Science:No
Page Range:pp. 356-359
Publisher:Space Technology Centre, University of Dundee
ISBN:978 0 9557196 3 9
Status:Published
Keywords:Spacewire, Humanoid Robot
Event Title:International SpaceWire Conference
Event Location:San Antonio, TX, USA
Event Type:international Conference
Event Dates:8-10 Nov 2011
Organizer:Space Technology Centre, University of Dundee
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Stefan Jörg
Deposited On:20 Dec 2011 13:44
Last Modified:23 Jan 2012 09:19

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