A Computer Architecture for Small Walking Robots

M. Marinoni and G. Buttazzo (Italy)


Control architecture, Embedded systems, Realtime, Hexa pod, Walking robots.


Legged robot systems differ from wheeled vehicles in that several actuators have to be synchronized to achieve a con trolled locomotion. When the robot has to operate under real-time constraints, special architectures are needed for enforcing timing requirements on high-level control tasks, while synchronizing the low-level locomotion system. In this paper we describe a robot control architecture specifically developed for supporting real-time applications in small walking robots with limited resources. It consists of two hierarchical control layers, one dedicated to leg co ordination and the other to high-level control tasks. The proposed real-time system has been used to control the be havior of a six-legged walking robot, where the motion of each leg has to be synchronized with the others based on the walking parameters.

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