CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Platform-based design for an embedded control system of three-dimensional swimming robot
Wang, Ming1,2; Yu, Junzhi1; Tan, Min1; Yang, Qinghai1; Wang Ming
2008
Conference NameIEEE International Conference on Automation and Logistics, ICAL 2008
Source PublicationIEEE International Conference on Automation and Logistics, ICAL 2008
Conference DateSeptember 1, 2008 - September 3, 2008
Conference PlaceQingdao, China
AbstractThis paper addresses a platform-based design method of a real-time embedded system for controlling three-dimensional (3-D) swimming of link-based robotic fish. It involves mechanical design, hardware implementation, software design, and Central Pattern Generators (CPG) inspired 3-D swimming control. With the ARM-based microprocessor AT91RM9200, the established hardware is well suited forcomplex computation environments. Moreover, concerning software design within the framework of the real-time operating system μC/OS-II, each function of the controller represented by a task can be easily added to the embedded system. Both the core hardware and software are realized by a standardized method, which makes the platform easily expandable and manageable. Without significant modification, the developed 3-D locomotion controller for robotic fish based on the platform concept can further extend to other control systems.
KeywordRobotic Fish Locomotion Controller Embedded system Platform-based Design Central Pattern Generator
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13060
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorWang Ming
Affiliation1. Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
2. School of Information and Electric Engineering, Shandong Jianzhu University, Jinan 250101, China
Recommended Citation
GB/T 7714
Wang, Ming,Yu, Junzhi,Tan, Min,et al. Platform-based design for an embedded control system of three-dimensional swimming robot[C],2008.
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