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Locomotion of a Modular Worm-like Robot using a FPGA-based embedded MicroBlaze Soft-processor. Slides

Locomotion of a Modular Worm-like Robot using a FPGA-based embedded MicroBlaze Soft-processor. Slides

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Published by Juan Gonzalez Gomez
Slides for the oral presentation of the paper with the same title. Clawar 2004 in Madrid:
Modular reconfigurable robots offer the promise of more versatility, robustness, and low cost. They are composed of simple and small modules, capable of attach and detach one to each other. In this paper, a modular worm-like robot composed of a chain of 8 similar modules is presented. A travelling wave, that moves from the tail to the head, propels the robot forward. The positions of the articulations are calculated using the following parameters: waveform, amplitude, and wavelength. Instead of a conventional architecture, a FPGA-based softprocessor core is utilized. It includes a set of custom peripheral cores, written in VHDL. FPGAs make modular robots more versatile, adding some new featureas to the design of robots like reconfigurable control, hardware reuse, lower cost, fault-recovering, and software/hardware co-design.
Slides for the oral presentation of the paper with the same title. Clawar 2004 in Madrid:
Modular reconfigurable robots offer the promise of more versatility, robustness, and low cost. They are composed of simple and small modules, capable of attach and detach one to each other. In this paper, a modular worm-like robot composed of a chain of 8 similar modules is presented. A travelling wave, that moves from the tail to the head, propels the robot forward. The positions of the articulations are calculated using the following parameters: waveform, amplitude, and wavelength. Instead of a conventional architecture, a FPGA-based softprocessor core is utilized. It includes a set of custom peripheral cores, written in VHDL. FPGAs make modular robots more versatile, adding some new featureas to the design of robots like reconfigurable control, hardware reuse, lower cost, fault-recovering, and software/hardware co-design.

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Published by: Juan Gonzalez Gomez on May 09, 2009
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05/11/2014

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Juan González Gómez, Estanislao Aguayo y Eduardo Boemo
Escuela Politécnica Superior Universidad Autónoma de Madrid
Locomotion of a Modular Worm-like Robot using aFPGA-based embedded MicroBlaze Soft-processor 
7
th
International Conference on Climbing and Walking RobotsSeptember 22-24. Madrid. Spain. 2004.
 
Introduction (I):Modular reconfigurable Robotics
 
Started in 1994 by Mark Yim
It concentrate on the construction of robots composed of modules
The design is focused on the modules, not the whole robot
Modules are capable of attach and detach one to each other 
Therefore, the shape of the robot changes
 
Introduction (II):Polybot
One of the most advanced systems
Designed at Palo Alto Research Center (PARC)
Now working on the third generation of modules
G1
 
No sensors
Electronic andpower outside
Servo
No self-reconfigurables
G1.4
 
Electronic andpower inside
8-bit microcontroller 
Servo
No self-reconfigurables
G2
DC Motor 
 
CPU: Power PC
 
1MB RAM
CAN Bus
 
Self-reconfigurable
G3
 
In development
More sensors
 
5x5x4.5mm

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