NDLI: Control architecture for stable gait of a six-legged subsea robot CR200

Content Provider	IEEE Xplore Digital Library
Author	Banghyun Kim Hyungwon Shim Seong-yeol Yoo Gyeong-mok Lee Bong-Huan Jun Pan-Mook Lee
Copyright Year	2013
Description	Author affiliation: Ocean Syst. Eng. Res. Div., KIOST, Daejeon, South Korea (Banghyun Kim; Hyungwon Shim; Seong-yeol Yoo; Gyeong-mok Lee; Bong-Huan Jun; Pan-Mook Lee)
Abstract	This paper presents a control architecture for 200m-class subsea walking robot, named CR200, which can work in strong tidal current and high turbidity environment by crawling sea floor to survey shipwreck and scientific research. The control architecture consists of deliberative layer, execution layer, and hardware abstract layer. Deliberative layer is in charge of the high level control of the CR200. Deliberative layer only gets needed information from execution layer, and puts processing result to execution layer. Deliberative layer does not consider detail process because execution layer includes most essential process for robot control. Hardware abstract layer allows other layers to perform device-independent, and it includes communication module, sensor interface module, and motor interface module. The control architecture has been implemented to a program of operating software. The program runs on Linux operating system, and it supports soft real-time characteristic without real-time operating system. The control frequency of the CR200 is 100 Hz, and standard deviation of software timer occurrence error was 10.375 us. We conducted first sea trial of the CR200 at KIOST's South Sea Research Institute in July 2013, and the CR200 performed well during its first die.
Sponsorship	IEEE Oceanic Eng. Soc.
Starting Page	1
Ending Page	4
File Size	783942
Page Count	4
File Format	PDF
ISBN	9780933957404
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-09-23
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	MTS
Subject Keyword	Computers Legged locomotion Cameras Software Sonar navigation Computer architecture Crabster control architecture subsea robot walking robot CR200
Content Type	Text
Resource Type	Article

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