NDLI: Universal Controller Module (UCoM) - component of a modular concept in robotic systems

Content Provider	IEEE Xplore Digital Library
Author	Regenstein, K. Kerscher, T. Birkenhofer, C. Asfour, T. Zollner, M. Dillmann, R.
Copyright Year	2007
Description	Author affiliation: Interactive Diagnosis- & Servicesystems, Karlsruhe (Regenstein, K.; Kerscher, T.; Birkenhofer, C.; Asfour, T.; Zollner, M.; Dillmann, R.)
Abstract	At our institute we built a variety of robots. As these robots are quite different as well in size, shape and in actuation principle it would be very time consuming and inefficient to build a computer and hardware architecture especially tailored to the specific robot. In this paper it will be described how common aspects in robot control can be identified and how a modular software framework and a respective computer architecture can be mapped to modular components on the hardware side. A decentralized computer architecture based on embedded PC systems connected to local controller modules via CAN-bus was developed. The requirements and restrictions that led to the development of these controller modules and their associated power amplifier boards will be described.
Starting Page	2089
Ending Page	2094
File Size	848897
Page Count	6
File Format	PDF
ISBN	9781424407545
DOI	10.1109/ISIE.2007.4374930
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-06-04
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control systems Computer architecture Robot kinematics Humanoid robots Robot sensing systems Personal communication networks Legged locomotion Service robots Information technology Hardware
Content Type	Text
Resource Type	Article

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