Software architecture for modular self-reconfigurable robots

被引：0
|
作者：
Zhang, Y [1 ]
Roufas, KD [1 ]
Yim, M [1 ]
机构：
[1] Xerox Corp, Palo Alto Res Ctr, Palo Alto, CA 94304 USA
来源：
IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4: EXPANDING THE SOCIETAL ROLE OF ROBOTICS IN THE NEXT MILLENNIUM | 2001年
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D O I：
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中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
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页码：2355 / 2360
页数：6
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