教師資料查詢 | 類別: 期刊論文 | 教師: 劉智誠 LIU, CHIH-CHENG (瀏覽個人網頁)

標題:Humanoid robot field programmable gate array hardware and robot-operating-system-based software machine co-designs
學年107
學期2
出版(發表)日期2019/06/07
作品名稱Humanoid robot field programmable gate array hardware and robot-operating-system-based software machine co-designs
作品名稱(其他語言)
著者H.M. Feng; C.C. Wong; S.R. Xiao; C.C. Liu
單位
出版者
著錄名稱、卷期、頁數Sensors and Materials 31(6), p.1893-1904
摘要We utilized the robot operating system (ROS) and the embedded system-on-a-chip (SoC)
field-programmable gate array (FPGA) system to achieve the hardware and software codesign. A novel SoC FPGA processor system architecture is implemented by combining both
ARM kernel and FPGA technologies. The advanced FPGA with the parallelized utilization
and the powerful central processing unit (CPU) with universal abilities are adopted to complete
the hardware and software co-design. The hybrid ROS-based control architectures efficiently
communicate with each other at nodes to devise the correct sequential procedures and complete
the full transformation of information in the distributed peer-to-peer topology. The humanoid
robot platform design is intended to mimic the human body and its related motion to support
various tasks. Humanoid robot machines have the limbs and trunk like the human body. The
robot’s structure routing comprises connections between sheet-metal parts and linking motors.
Motors rotate joints to imitate human motion. Pose and pressure sensors are located at the waist
and on the undersides of the two feet, respectively. Sensors intuitively perceive relational robot
situations and outdoor environment information. A kernel control board functions like a human
brain to gather the whole information. The controller analyzes an appropriated command for
the motor driver board to realize the suitable joint motion of the robot. A detail humanoid robot
machine design and its related working events in different experiments are shown in this study
關鍵字humanoid robot;robot operating system;hardware and software co-design;embedded SoC, FPGA system
語言英文
ISSN0914-4935
期刊性質國外
收錄於SCI;SSCI;
產學合作
通訊作者
審稿制度
國別日本
公開徵稿
出版型式,電子版
相關連結
Google+ 推薦功能,讓全世界都能看到您的推薦!