Flexible, fpga-based electronics for modular robots

David Brandt, Jørgen Christian Larsen, David Johan Christensen, Ricardo Franco Mendoza Garcia, Danish Shaikh, Ulrik Pagh Schultz, Kasper Støy

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

Resumé

In this paper we introduce electronics for the ATRON self-reconfigurable robot based on field programmable gate arrays (FPGAs). The immediate advantage of using FPGAs is that some of the module’s electronics can be moved into the FPGA, thereby the number of components can be reduced. In the case of the ATRON the number of components is reduced by 20%. Another advantage is that handling of low-level hardware, which is interrupt heavy, can be moved out of the main processor (also implemented on the FPGA) as we will exemplify with a simple FPGA-based communication system. Finally, we can reprogram the FPGA and therefore integrate task-specific electronics without physically changing the electronics or we can reconfigure the electronics for specific tasks. The disadvantages of an FPGA-based design include the cost of FPGAs, the extra layer of complexity in programming, and a limited increase in power consumption compared to micro-controllers. However, overall FPGAs make the electronics of modular robots more flexible and therefore may make them more suitable for real applications. AB - In this paper we introduce electronics for the ATRON self-reconfigurable robot based on field programmable gate arrays (FPGAs). The immediate advantage of using FPGAs is that some of the module’s electronics can be moved into the FPGA, thereby the number of components can be reduced. In the case of the ATRON the number of components is reduced by 20%. Another advantage is that handling of low-level hardware, which is interrupt heavy, can be moved out of the main processor (also implemented on the FPGA) as we will exemplify with a simple FPGA-based communication system. Finally, we can reprogram the FPGA and therefore integrate task-specific electronics without physically changing the electronics or we can reconfigure the electronics for specific tasks. The disadvantages of an FPGA-based design include the cost of FPGAs, the extra layer of complexity in programming, and a limited increase in power consumption compared to micro-controllers. However, overall FPGAs make the electronics of modular robots more flexible and therefore may make them more suitable for real applications.
OriginalsprogEngelsk
TitelProceedings of the IROS Workshop on Self-Reconfigurable Robots, Systems and Applications
Antal sider5
Publikationsdato2008
StatusUdgivet - 2008

Fingeraftryk

Modular robots
Field programmable gate arrays (FPGA)
Electronic equipment
Communication systems
Electric power utilization
Robots
Hardware

Citer dette

Brandt, D., Larsen, J. C., Christensen, D. J., Garcia, R. F. M., Shaikh, D., Schultz, U. P., & Støy, K. (2008). Flexible, fpga-based electronics for modular robots. I Proceedings of the IROS Workshop on Self-Reconfigurable Robots, Systems and Applications
Brandt, David ; Larsen, Jørgen Christian ; Christensen, David Johan ; Garcia, Ricardo Franco Mendoza ; Shaikh, Danish ; Schultz, Ulrik Pagh ; Støy, Kasper. / Flexible, fpga-based electronics for modular robots. Proceedings of the IROS Workshop on Self-Reconfigurable Robots, Systems and Applications. 2008.
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title = "Flexible, fpga-based electronics for modular robots",
abstract = "In this paper we introduce electronics for the ATRON self-reconfigurable robot based on field programmable gate arrays (FPGAs). The immediate advantage of using FPGAs is that some of the module’s electronics can be moved into the FPGA, thereby the number of components can be reduced. In the case of the ATRON the number of components is reduced by 20{\%}. Another advantage is that handling of low-level hardware, which is interrupt heavy, can be moved out of the main processor (also implemented on the FPGA) as we will exemplify with a simple FPGA-based communication system. Finally, we can reprogram the FPGA and therefore integrate task-specific electronics without physically changing the electronics or we can reconfigure the electronics for specific tasks. The disadvantages of an FPGA-based design include the cost of FPGAs, the extra layer of complexity in programming, and a limited increase in power consumption compared to micro-controllers. However, overall FPGAs make the electronics of modular robots more flexible and therefore may make them more suitable for real applications. AB - In this paper we introduce electronics for the ATRON self-reconfigurable robot based on field programmable gate arrays (FPGAs). The immediate advantage of using FPGAs is that some of the module’s electronics can be moved into the FPGA, thereby the number of components can be reduced. In the case of the ATRON the number of components is reduced by 20{\%}. Another advantage is that handling of low-level hardware, which is interrupt heavy, can be moved out of the main processor (also implemented on the FPGA) as we will exemplify with a simple FPGA-based communication system. Finally, we can reprogram the FPGA and therefore integrate task-specific electronics without physically changing the electronics or we can reconfigure the electronics for specific tasks. The disadvantages of an FPGA-based design include the cost of FPGAs, the extra layer of complexity in programming, and a limited increase in power consumption compared to micro-controllers. However, overall FPGAs make the electronics of modular robots more flexible and therefore may make them more suitable for real applications.",
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Brandt, D, Larsen, JC, Christensen, DJ, Garcia, RFM, Shaikh, D, Schultz, UP & Støy, K 2008, Flexible, fpga-based electronics for modular robots. i Proceedings of the IROS Workshop on Self-Reconfigurable Robots, Systems and Applications.

Flexible, fpga-based electronics for modular robots. / Brandt, David; Larsen, Jørgen Christian; Christensen, David Johan; Garcia, Ricardo Franco Mendoza; Shaikh, Danish; Schultz, Ulrik Pagh; Støy, Kasper.

Proceedings of the IROS Workshop on Self-Reconfigurable Robots, Systems and Applications. 2008.

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

TY - GEN

T1 - Flexible, fpga-based electronics for modular robots

AU - Brandt, David

AU - Larsen, Jørgen Christian

AU - Christensen, David Johan

AU - Garcia, Ricardo Franco Mendoza

AU - Shaikh, Danish

AU - Schultz, Ulrik Pagh

AU - Støy, Kasper

PY - 2008

Y1 - 2008

N2 - In this paper we introduce electronics for the ATRON self-reconfigurable robot based on field programmable gate arrays (FPGAs). The immediate advantage of using FPGAs is that some of the module’s electronics can be moved into the FPGA, thereby the number of components can be reduced. In the case of the ATRON the number of components is reduced by 20%. Another advantage is that handling of low-level hardware, which is interrupt heavy, can be moved out of the main processor (also implemented on the FPGA) as we will exemplify with a simple FPGA-based communication system. Finally, we can reprogram the FPGA and therefore integrate task-specific electronics without physically changing the electronics or we can reconfigure the electronics for specific tasks. The disadvantages of an FPGA-based design include the cost of FPGAs, the extra layer of complexity in programming, and a limited increase in power consumption compared to micro-controllers. However, overall FPGAs make the electronics of modular robots more flexible and therefore may make them more suitable for real applications. AB - In this paper we introduce electronics for the ATRON self-reconfigurable robot based on field programmable gate arrays (FPGAs). The immediate advantage of using FPGAs is that some of the module’s electronics can be moved into the FPGA, thereby the number of components can be reduced. In the case of the ATRON the number of components is reduced by 20%. Another advantage is that handling of low-level hardware, which is interrupt heavy, can be moved out of the main processor (also implemented on the FPGA) as we will exemplify with a simple FPGA-based communication system. Finally, we can reprogram the FPGA and therefore integrate task-specific electronics without physically changing the electronics or we can reconfigure the electronics for specific tasks. The disadvantages of an FPGA-based design include the cost of FPGAs, the extra layer of complexity in programming, and a limited increase in power consumption compared to micro-controllers. However, overall FPGAs make the electronics of modular robots more flexible and therefore may make them more suitable for real applications.

AB - In this paper we introduce electronics for the ATRON self-reconfigurable robot based on field programmable gate arrays (FPGAs). The immediate advantage of using FPGAs is that some of the module’s electronics can be moved into the FPGA, thereby the number of components can be reduced. In the case of the ATRON the number of components is reduced by 20%. Another advantage is that handling of low-level hardware, which is interrupt heavy, can be moved out of the main processor (also implemented on the FPGA) as we will exemplify with a simple FPGA-based communication system. Finally, we can reprogram the FPGA and therefore integrate task-specific electronics without physically changing the electronics or we can reconfigure the electronics for specific tasks. The disadvantages of an FPGA-based design include the cost of FPGAs, the extra layer of complexity in programming, and a limited increase in power consumption compared to micro-controllers. However, overall FPGAs make the electronics of modular robots more flexible and therefore may make them more suitable for real applications. AB - In this paper we introduce electronics for the ATRON self-reconfigurable robot based on field programmable gate arrays (FPGAs). The immediate advantage of using FPGAs is that some of the module’s electronics can be moved into the FPGA, thereby the number of components can be reduced. In the case of the ATRON the number of components is reduced by 20%. Another advantage is that handling of low-level hardware, which is interrupt heavy, can be moved out of the main processor (also implemented on the FPGA) as we will exemplify with a simple FPGA-based communication system. Finally, we can reprogram the FPGA and therefore integrate task-specific electronics without physically changing the electronics or we can reconfigure the electronics for specific tasks. The disadvantages of an FPGA-based design include the cost of FPGAs, the extra layer of complexity in programming, and a limited increase in power consumption compared to micro-controllers. However, overall FPGAs make the electronics of modular robots more flexible and therefore may make them more suitable for real applications.

M3 - Article in proceedings

BT - Proceedings of the IROS Workshop on Self-Reconfigurable Robots, Systems and Applications

ER -

Brandt D, Larsen JC, Christensen DJ, Garcia RFM, Shaikh D, Schultz UP et al. Flexible, fpga-based electronics for modular robots. I Proceedings of the IROS Workshop on Self-Reconfigurable Robots, Systems and Applications. 2008