Platform-based design for an embedded control system of three-dimensional swimming robot
文献类型：会议论文
| 作者 | Wang, Ming1,2; Yu, Junzhi1 ; Tan, Min1; Yang, Qinghai1
|
| 出版日期 | 2008 |
| 会议名称 | IEEE International Conference on Automation and Logistics, ICAL 2008 |
| 会议日期 | September 1, 2008 - September 3, 2008 |
| 会议地点 | Qingdao, China |
| 关键词 | Robotic fish Locomotion controller Embedded system Platform-based design Central pattern generator |
| 通讯作者 | Wang Ming |
| 英文摘要 | This paper addresses a platform-based design method of a real-time embedded system for controlling three-dimensional (3-D) swimming of link-based robotic fish. It involves mechanical design, hardware implementation, software design, and Central Pattern Generators (CPG) inspired 3-D swimming control. With the ARM-based microprocessor AT91RM9200, the established hardware is well suited forcomplex computation environments. Moreover, concerning software design within the framework of the real-time operating system μC/OS-II, each function of the controller represented by a task can be easily added to the embedded system. Both the core hardware and software are realized by a standardized method, which makes the platform easily expandable and manageable. Without significant modification, the developed 3-D locomotion controller for robotic fish based on the platform concept can further extend to other control systems. |
| 会议录 | IEEE International Conference on Automation and Logistics, ICAL 2008
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13060]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | 1. Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China 2. School of Information and Electric Engineering, Shandong Jianzhu University, Jinan 250101, China |
| 推荐引用方式 GB/T 7714 | Wang, Ming,Yu, Junzhi,Tan, Min,et al. Platform-based design for an embedded control system of three-dimensional swimming robot[C]. 见:IEEE International Conference on Automation and Logistics, ICAL 2008. Qingdao, China. September 1, 2008 - September 3, 2008. |
入库方式： OAI收割
来源：自动化研究所
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