Evaluation of a Locomotion Algorithm for Worm-Like Robots on FPGA-Embedded Processors
In this paper, a locomotion algorithm designed for an eight modules worm-like robot has been successfully tested on three different FPGA-embedded processors: MicroBlaze, PowerPC and LEON2. The locomotion of worm-like robots, composed of a chain of equal linked modules, is achieved by means of wave propagation that traverse the body of the worm. The time the robot needs to generate a new motion wave, also known as the gait recalculation time, is the key to achieve an autonomous robot with real-time reactions. Algorithm execution time for four different architectures, as a function of the total number of articulations of the robot, are presented. The results show that a huge improvement of the gait recalculation time can be achieved by using a float point unit. The performance achieved using the LEON2 with FPU is 40 times better than LEON2 without FPU, using only 6% of additional resources.
KeywordsAutonomous Robot Embed Processor Linked Module Cube Revolution Algorithm Execution Time
Unable to display preview. Download preview PDF.
- 1.Yim, M., Zhang, Y., Duff, D.: Xerox Palo Alto Research Center (PARC), “Modular Robots”. IEEE Spectrum Magazine (February 2002)Google Scholar
- 2.Yim, M., Duff, D.G., Roufas, K.D.: Polybot: a Modular Reconfigurable Robot. In: IEEE Intl. Conf. on Robotics and Automation (ICRA), San Francisco, CA (April 2000)Google Scholar
- 3.Duff, D., Yim, M., Roufas, K.: Evolution of PolyBot: A Modular Reconfigurable Robot. In: Proc. of the Harmonic Drive Intl. Symposium, Nagano, Japan (November 2001); Proc. of COE/Super-Mechano-Systems Workshop, Tokyo, Japan (November 2001)Google Scholar
- 4.Yim, M., Zhang, Y., Roufas, K., Duff, D., Eldershaw, C.: Connecting and disconnecting for chain self-reconfiguration with PolyBot. IEEE/ASME Transactions on mechatronics. Information Technology in Mechatronics (special issue) (2003)Google Scholar
- 5.González-Gómez, J., Aguayo, E., Boemo, E.: Locomotion of a Modular Worm-like Robot using a FPGA-based embedded MicroBlaze Soft-processor. In: Proc. of 7th International Conference on Climbing and Walking Robots, Madrid, Spain (September 2004)Google Scholar
- 6.Xilinx Inc. MicroBlaze Processor Reference Guide, Embedded Development Kit. Version 6.2Google Scholar
- 7.Xilinx Inc. PowerPC Processor Reference Guide, Embedded Development Kit. Version 6.2Google Scholar
- 8.Gaisler Research (March 2005), http://www.gaisler.com