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The Hardware Abstraction Layer - Supporting Control Design by Tackling the Complexity of Humanoid Robot Hardware

Jörg, Stefan and Tully, Jan and Albu-Schäffer, Alin (2014) The Hardware Abstraction Layer - Supporting Control Design by Tackling the Complexity of Humanoid Robot Hardware. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 6427-6433. ICRA, International Conference on Robotics and Automation, 2014-05-31 - 2014-06-07, Hong Kong, China. doi: 10.1109/icra.2014.6907808.

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Abstract

Humanoid robots are highly integrated robotic systems with many sensors and actuators. The DLR Hand Arm system has 52 motors and 430 sensors. Design goal is to operate the robot with high-performance feedback control at cycles beyond 1kHz but to retain the flexibility of prototyping control algorithms. This is achieved with the concept of a Hardware Abstraction Layer (HAL) that provides a convenient high-level interface to the entire robotic hardware. The requirements for the design of a HAL in terms of functionality and implementation are presented that improve the integration of complex robot hardware with prototype control applications. Experiments with the HAL of the DLR Hand Arm System demonstrate the high performance of a Simulink Interface implementation. A 3 kHz control loop yields a latency below 333 µs and a jitter below 50 µs.

Item URL in elib:https://elib.dlr.de/96021/
Document Type:Conference or Workshop Item (Speech)
Title:The Hardware Abstraction Layer - Supporting Control Design by Tackling the Complexity of Humanoid Robot Hardware
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Jörg, StefanUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Tully, JanUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074UNSPECIFIED
Date:7 June 2014
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
DOI:10.1109/icra.2014.6907808
Page Range:pp. 6427-6433
Status:Published
Keywords:Humanoid Robot Hardware
Event Title:ICRA, International Conference on Robotics and Automation
Event Location:Hong Kong, China
Event Type:international Conference
Event Start Date:31 May 2014
Event End Date:7 June 2014
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Beinhofer, Gabriele
Deposited On:29 Apr 2015 15:42
Last Modified:24 Apr 2024 20:01

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