Legged robot systems differ from wheeled vehicles in that several actuators have to be synchronized to achieve a controlled locomotion. When the robot has to operate under real-time constraints, special architectures are needed for enforcing timing requirements on high-level control tasks, while synchronizing the low-level locomotion system. In this paper we describe a robot control architecture specifically developed for supporting real-time applications in small walking robots with limited resources. It consists of two hierarchical control layers, one dedicated to leg coordination and the other to high-level control tasks. The proposed real-time system has been used to control the behavior of a six-legged walking robot, where the motion of each leg has to be synchronized with the others based on the walking parameters.
A Computer Architecture for Small Walking Robots
MARINONI, Mauro;BUTTAZZO, Giorgio Carlo
2003-01-01
Abstract
Legged robot systems differ from wheeled vehicles in that several actuators have to be synchronized to achieve a controlled locomotion. When the robot has to operate under real-time constraints, special architectures are needed for enforcing timing requirements on high-level control tasks, while synchronizing the low-level locomotion system. In this paper we describe a robot control architecture specifically developed for supporting real-time applications in small walking robots with limited resources. It consists of two hierarchical control layers, one dedicated to leg coordination and the other to high-level control tasks. The proposed real-time system has been used to control the behavior of a six-legged walking robot, where the motion of each leg has to be synchronized with the others based on the walking parameters.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
