A Hierachical Operating System of a Chewing Robot for Interactive Real-time Control

被引：0
|
作者：
Chen, Bangxiang [1 ]
Xu, Weiliang [1 ]
Dhupia, Jaspreet [1 ]
机构：
[1] Univ Auckland, Dept Mech & Mechatron Engn, Auckland, New Zealand
来源：
2023 29TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE, M2VIP 2023 | 2023年
关键词：
software; chewing robot; FPGA; real-time operation; human-machine interactive system;
D O I：
10.1109/M2VIP58386.2023.10413446
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Mastication plays a critical role in the food digestive process. A chewing robot was developed to simulate the food masticatory process to evaluate food properties. The operating system of the robot is introduced in this paper. The system is divided into three layers, one operating on a Field Programmable Gate Array (FPGA), one running on a micro-controller and the interactive layer operating on a PC. The FPGA layer senses and actuates the basic components of the robot. The controller layer performs robot motion planning and control. The interactive layer gathers information displaying to the user of the robot and allow the user to send command to the robot.
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页数：6
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