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

Steffen Schütz, Atabak Nejadfard, Max Reichardt, Karsten Berns

2019

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.

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