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.
Item URL in elib: | https://elib.dlr.de/45617/ | ||||||||||||
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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: | 9 October 2006 | ||||||||||||
Journal or Publication Title: | Proceedings | ||||||||||||
Refereed publication: | Yes | ||||||||||||
Open Access: | No | ||||||||||||
Gold Open Access: | No | ||||||||||||
In SCOPUS: | No | ||||||||||||
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 (until 2012) > Robotic Systems | ||||||||||||
Deposited By: | Beinhofer, Gabriele | ||||||||||||
Deposited On: | 31 Aug 2007 | ||||||||||||
Last Modified: | 27 Apr 2009 13:15 |
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