Title :
Embedded FPGA-based control of a multifingered robotic hand
Author :
Casalino, Giuseppe ; Giorgi, Fabio ; Turetta, Alessio ; Caffaz, Andrea
Author_Institution :
DIST, Genoa Univ., Italy
Abstract :
This paper describes the most significant design issues related with the development of an embedded FPGA-based control system for a human-like robotic hand. Specific features of the mechanical design of the system are discussed firstly, then a general approach to the problem of controlling the motion of the robotic device is provided. Finally a candidate distributed control architecture is presented.
Keywords :
computer architecture; dexterous manipulators; distributed control; embedded systems; field programmable gate arrays; motion control; FPGA based robotic control; distributed control architecture; embedded field programmable gate arrays; human like robotic hand; multifingered robotic control; robotic motion control; robotic systems mechanical design; Control systems; DC motors; Distributed control; Field programmable gate arrays; Fingers; Hardware; Motion control; Programmable logic arrays; Robot control; Tendons;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1242014
