Highly-dynamic robotic systems, such as hopping robots, require light, computationally and energy efficient on-board units for control. This paper presents such a computational unit together with a software architecture for achieving high-performance behaviors, such as balancing and hopping. These demanding behaviors require accurate dynamic calculations, high-bandwidth control, and fast real-time state estimation. The proposed system consists of cheap and off-the-shelf electronics that are detailed in this paper. The effectiveness of the presented approach is validated on a balancing machine called Tippy, which is able to achieve fast tracking of command signals while balancing. The experimental results of this paper demonstrate that reliable real-time software for demanding high-performance robotic applications, which require fast control loops and intensive calculations, can be achieved with light, low cost and energy efficient components, which can empower the widespread use and experimentation of high-performance robots worldwide.


    Access

    Download


    Export, share and cite



    Title :

    Autonomous Real Time Architecture for High Performance Mobile Robots


    Contributors:
    Gkikakis, A (author) / Kanoulas, D (author) / Featherstone, R (author)

    Publication date :

    2021-01-01


    Remarks:

    In: Proceedings of the 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE). (pp. pp. 841-46). Institute of Electrical and Electronics Engineers (IEEE): Lyon, France. (2021)


    Type of media :

    Paper


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629



    Autonomous Mobile Robots

    H. P. Moravec | NTIS | 1986


    Real-time Control Architecture for an Autonomous Mobile Robot

    Sandt, F. / Pampagnin, L.-H. / IEEE; Industrial Electronics Society | British Library Conference Proceedings | 1994


    Real-time control architecture for an autonomous mobile robot

    Sandt, F. / Pampagnin, L.-H. | IEEE | 1994


    Navigating semi-autonomous mobile robots

    STORFER LIOR / GAIDAR TAMARA / LAPIDOT IDO | European Patent Office | 2020

    Free access

    Autonomous recharging of mobile robots

    Birk,A. / Vrije Univ.Brussel,BE | Automotive engineering | 1997