Authors:
Thomas Schöpping
;
Timo Korthals
;
Marc Hesse
and
Ulrich Rückert
Affiliation:
Cluster of Excellence Cognitive Interaction Technology ‘CITEC’, Bielefeld University, Inspiration 1, 33619 Bielefeld and Germany
Keyword(s):
Robotics, Modular Architecture, Real-time.
Related
Ontology
Subjects/Areas/Topics:
Distributed Control Systems
;
Industrial Automation and Robotics
;
Industrial Engineering
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mechatronics Systems
;
Mobile Robots and Autonomous Systems
;
Modeling, Simulation and Architectures
;
Real-Time Systems Control
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
With the continuous progress in robotics and application of such systems in evermore scenarios, safety and flexibility become increasingly important aspects and new designs should thus emphasize real-time capability and modularity. This work points out all related topics for such an endeavor and proclaims to move from conventional bottom-up design to more holistic approaches. Based on experience gained with the modular mini robot platforms BeBot and AMiRo, a novel generic modular architecture is proposed that offers high flexibility and system wide real-time capability.