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
会议名称IEEE International Conference on Automation and Logistics, ICAL 2008
会议录名称IEEE International Conference on Automation and Logistics, ICAL 2008
会议日期September 1, 2008 - September 3, 2008
会议地点Qingdao, China
摘要This 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.
关键词Robotic Fish Locomotion Controller Embedded system Platform-based Design Central Pattern Generator
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13060
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Wang Ming
作者单位1. 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
推荐引用方式
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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