NDLI: Versatile FPGA-based locomotion platform for legged robots

Content Provider	IEEE Xplore Digital Library
Author	Barron-Zambrano, J.H. Torres-Huitzil, C. Rostro-Gonzalez, H.
Copyright Year	2012
Description	Author affiliation: Division de Ingenierias, Campus Irapuato-Salamanca, Universidad de Guanajuato, Salamanca, Guanajuato, Mexico (Rostro-Gonzalez, H.) \|\| Information Technology Laboratory, CINVESTAV - Tamaulipas, Victoria, Tamaulipas, Mexico (Barron-Zambrano, J.H.; Torres-Huitzil, C.)
Abstract	Usually, most mobile robots have been equipped with wheels because they are easy to control but they require a flat surface on which to operate. Walking machines have been proposed to overpass the limits of wheeled systems by looking at legged solutions in nature. Legged systems can be slow and more difficult to design and operate with respect to wheeled machines. These robots present dozens of degrees of freedom that must be controlled with ability, flexibility and energy efficiency. Under this scenario, a versatile FPGA platform for legged robot is presented. The platform is able to control servomotors through pulse-width modulation (PWM) signals that are usually used to control these kind of motors. The proposed platform is powerful in terms of locomotion capabilities, concurrency and coordination. The platform modules work in parallel and will be synchronized by a soft-processor through a C-based application. Physical testing based on Phoenix hexapod robot and CPG-based locomotion control has confirmed the locomotion hardware platform functionality. The implementation provides flexibility to add more custom modules for different kind of sensors, suitable for autonomous locomotion and the implementation is feasible to be used in different robots.
Starting Page	1
Ending Page	6
File Size	541725
Page Count	6
File Format	PDF
ISBN	9781467329194
e-ISBN	9781467329217
DOI	10.1109/ReConFig.2012.6417035
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-12-05
Publisher Place	Mexico
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Robot kinematics locomotion control FPGA Pulse width modulation hexapod robot platform architecture Servomotors Field programmable gate arrays
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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