Platform-based design for an embedded control system of three-dimensional swimming robot

	Platform-based design for an embedded control system of three-dimensional swimming robot
	Wang, Ming 1,2; Yu, Junzhi1 ; Tan, Min1 ; Yang, Qinghai 1; 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	复杂系统认知与决策实验室_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
第一作者单位	中国科学院自动化研究所
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.