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Evaluation of a Locomotion Algorithm for Worm-Like Robots on FPGA-Embedded Processors

  • J. Gonzalez-Gomez
  • I. Gonzalez
  • F. Gomez-Arribas
  • E. Boemo
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3985)

Abstract

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.

Keywords

Autonomous Robot Embed Processor Linked Module Cube Revolution Algorithm Execution Time 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • J. Gonzalez-Gomez
    • 1
  • I. Gonzalez
    • 1
  • F. Gomez-Arribas
    • 1
  • E. Boemo
    • 1
  1. 1.Computer Engineering SchoolUniversidad Autonoma de MadridSpain

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