Title :
Distributed control system implementation for tetrahedral walker robots
Author :
Swett, Joshua ; Abrahantes, Miguel
Abstract :
This work describes the implementation of distributed, modularized control hardware for an 8-tetrahedron robot. This design sought to make each actuating strut on the tetrahedral robot an independent unit. This allows for easy reconfiguration of the robot and better realizes the conceptualized goals for tetrahedral robotics. Both the electronic hardware and embedded software used for this implementation will be covered in detail. The performance gains of this implementation as opposed to a centralized control model will also be discussed.
Keywords :
control engineering computing; distributed control; embedded systems; legged locomotion; centralized control model; distributed control system; distributed modularized control hardware; electronic hardware; embedded software; robot reconfiguration; tetrahedral walker robots; Calibration; Computational modeling; Educational robots; Hardware; Microcontrollers; Software;
Conference_Titel :
Electro/Information Technology (EIT), 2014 IEEE International Conference on
Conference_Location :
Milwaukee, WI
DOI :
10.1109/EIT.2014.6871767