Software Architecture for Modular Self-Reconfigurable Robots (2001)
| Venue: | IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS |
| Citations: | 20 - 7 self |
BibTeX
@INPROCEEDINGS{Zhang01softwarearchitecture,
author = {Ying Zhang and Kimon D. Roufas and Mark Yim},
title = {Software Architecture for Modular Self-Reconfigurable Robots},
booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS},
year = {2001}
}
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Abstract
Modular, self-reconfigurable robots show the promise of great versatility, robustness and low cost. However, programming such robots for specific tasks, with hundreds of modules and each of which with multiple actuators and sensors, can be tedious and error-prone. The extreme versatility of the modular systems requires a new paradigm in programming. In this paper, we present new software architecture for this type of robot, in particular PolyBot, which has been developed through its third generation. The architecture, based on the properties of the PolyBot electro-mechanical design, features a multi-master/multi-slave structure in a multi-threaded environment, with three layers of communication protocols. The architecture is currently being implemented for Motorola PowerPC using vxWorks. 1.
Keyphrases
modular self-reconfigurable robot software architecture self-reconfigurable robot modular system multiple actuator new paradigm low cost polybot electro-mechanical design particular polybot multi-master multi-slave structure specific task third generation communication protocol multi-threaded environment great versatility new software architecture extreme versatility motorola powerpc
