Soft Core Robot with Joint Wheel Motion Controller

• Type: Article in International Conference Proceedings Book
• Date: 2009

Authors

André Carvalhosa (Author) Other; Pedro Machado (Author) Other; Armando Sousa (Author) FEUP; José C. Alves (Author) FEUP

Conference proceedings International

Title: IECON: 2009 35TH ANNUAL CONFERENCE OF IEEE INDUSTRIAL ELECTRONICS, VOLS 1-6

Pages: 2992-2997

35th Annual Conference of the IEEE-Industrial-Electronics-Society (IECON 2009)

Porto, PORTUGAL, NOV 03-05, 2009

Indexing

ISI Web of Knowledge - 0 Citations

Scopus - 0 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: P-003-QFT

DOI: 10.1109/iecon.2009.5415303

Abstract (EN): The goal of the "Soft Core Robot" project is to set the way for a robot with minimalistic component and pin count, based on custom computing. Additionally, the "Joint Wheel Motion Controller" specifically takes advantage of custom computing in order to privilege angular precision over linear velocity which is interesting for some applications including mobile robotics. The proposed "Soft Core Robot" is expected to produce a small but very powerful and versatile robot. The chosen processing platform is based on a FPGA plus Microprocessor in the same chip. The proposed example application is the Fire Fighting contest at Instituto Politecnico da Guarda, in Portugal. The Joint Wheel Controller is not yet fully operational but results for the control of a single motor are presented. The overall status of the project is addressed, as well as the pros and cons of the approaches taken.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6