Versatile FPGA-based locomotion platform for legged robots

Jose Hugo Barron-Zambrano, Cesar Torres-Huitzil, Horacio Rostro-Gonzalez

Producció científica: Capítol de llibreContribució a congrés/conferènciaAvaluat per experts

2 Cites (Scopus)

Resum

Usually, most mobile robots have been equipped with wheels because they are easy to control but they require a flat surface on which to operate. Walking machines have been proposed to overpass the limits of wheeled systems by looking at legged solutions in nature. Legged systems can be slow and more difficult to design and operate with respect to wheeled machines. These robots present dozens of degrees of freedom that must be controlled with ability, flexibility and energy efficiency. Under this scenario, a versatile FPGA platform for legged robot is presented. The platform is able to control servomotors through pulse-width modulation (PWM) signals that are usually used to control these kind of motors. The proposed platform is powerful in terms of locomotion capabilities, concurrency and coordination. The platform modules work in parallel and will be synchronized by a soft-processor through a C-based application. Physical testing based on Phoenix hexapod robot and CPG-based locomotion control has confirmed the locomotion hardware platform functionality. The implementation provides flexibility to add more custom modules for different kind of sensors, suitable for autonomous locomotion and the implementation is feasible to be used in different robots.

Idioma originalAnglès
Títol de la publicació2012 International Conference on Reconfigurable Computing and FPGAs, ReConFig 2012
DOIs
Estat de la publicacióPublicada - 2012
Publicat externament
Esdeveniment2012 International Conference on Reconfigurable Computing and FPGAs, ReConFig 2012 - Cancun, Mexico
Durada: 5 de des. 20127 de des. 2012

Sèrie de publicacions

Nom2012 International Conference on Reconfigurable Computing and FPGAs, ReConFig 2012

Conferència

Conferència2012 International Conference on Reconfigurable Computing and FPGAs, ReConFig 2012
País/TerritoriMexico
CiutatCancun
Període5/12/127/12/12

Fingerprint

Navegar pels temes de recerca de 'Versatile FPGA-based locomotion platform for legged robots'. Junts formen un fingerprint únic.

Com citar-ho