FPGA-based Embedded System Designed for the Deployment in the Compliant Robotic Leg CARL

Steffen Schütz, Atabak Nejadfard, Max Reichardt, Karsten Berns

Abstract

The embedded system that is distributed within a bipedal robot is a key component of such a highly interwoven mechatronic system. Generally, it has to handle two competing main tasks – executing the embedded closed-loop control of the actuators and handling the communication with the higher-level control system. As the restrictions on physical size and energy consumption limit its computational resources, the design of the embedded nodes poses a potential bottleneck for the performance of the overall system. Hence, the following presents an approach to mitigate the conflicting requirements by deploying FPGA-based embedded nodes. It is illustrated how the additional flexibility at the logic level is used to implement the closed-loop force and impedance control of a series elastic actuator. Furthermore, it is shown how the consequent hardware/software co-design enables the deployment of a full featured robotic framework. To validate the concept, the properties of the implementation are characterized.

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Paper Citation


in Harvard Style

Schütz S., Nejadfard A., Reichardt M. and Berns K. (2019). FPGA-based Embedded System Designed for the Deployment in the Compliant Robotic Leg CARL.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 537-543. DOI: 10.5220/0007978205370543


in Bibtex Style

@conference{icinco19,
author={Steffen Schütz and Atabak Nejadfard and Max Reichardt and Karsten Berns},
title={FPGA-based Embedded System Designed for the Deployment in the Compliant Robotic Leg CARL},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={537-543},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007978205370543},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - FPGA-based Embedded System Designed for the Deployment in the Compliant Robotic Leg CARL
SN - 978-989-758-380-3
AU - Schütz S.
AU - Nejadfard A.
AU - Reichardt M.
AU - Berns K.
PY - 2019
SP - 537
EP - 543
DO - 10.5220/0007978205370543