{"title":"一种用于高灵巧蛇形机器人的分布式I/O低级控制器","authors":"P. Thienphrapa, P. Kazanzides","doi":"10.1109/BIOCAS.2008.4696861","DOIUrl":null,"url":null,"abstract":"A robot can be seen as a set of actuated joints, each connected to a processing unit that senses feedback signals and generates actuation commands. For robots with high locomotive sophistication, commonly seen in medical robotics, the requisite cabling and control processing can become unwieldy. Motivated by dexterous snake-like robots for minimally invasive surgery, this paper explores the use of IEEE 1394 (FireWire), attached directly to low-latency field-programmable gate arrays (FPGAs), to distribute I/O and centralize processing. This increases the viability of complex medical robots by reducing cabling and consolidating processing, thereby making systems more agile, reliable, and scalable.","PeriodicalId":415200,"journal":{"name":"2008 IEEE Biomedical Circuits and Systems Conference","volume":"144 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2008-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"7","resultStr":"{\"title\":\"A distributed I/O low-level controller for highly-dexterous snake robots\",\"authors\":\"P. Thienphrapa, P. Kazanzides\",\"doi\":\"10.1109/BIOCAS.2008.4696861\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A robot can be seen as a set of actuated joints, each connected to a processing unit that senses feedback signals and generates actuation commands. For robots with high locomotive sophistication, commonly seen in medical robotics, the requisite cabling and control processing can become unwieldy. Motivated by dexterous snake-like robots for minimally invasive surgery, this paper explores the use of IEEE 1394 (FireWire), attached directly to low-latency field-programmable gate arrays (FPGAs), to distribute I/O and centralize processing. This increases the viability of complex medical robots by reducing cabling and consolidating processing, thereby making systems more agile, reliable, and scalable.\",\"PeriodicalId\":415200,\"journal\":{\"name\":\"2008 IEEE Biomedical Circuits and Systems Conference\",\"volume\":\"144 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2008-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"7\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2008 IEEE Biomedical Circuits and Systems Conference\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/BIOCAS.2008.4696861\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2008 IEEE Biomedical Circuits and Systems Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/BIOCAS.2008.4696861","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A distributed I/O low-level controller for highly-dexterous snake robots
A robot can be seen as a set of actuated joints, each connected to a processing unit that senses feedback signals and generates actuation commands. For robots with high locomotive sophistication, commonly seen in medical robotics, the requisite cabling and control processing can become unwieldy. Motivated by dexterous snake-like robots for minimally invasive surgery, this paper explores the use of IEEE 1394 (FireWire), attached directly to low-latency field-programmable gate arrays (FPGAs), to distribute I/O and centralize processing. This increases the viability of complex medical robots by reducing cabling and consolidating processing, thereby making systems more agile, reliable, and scalable.
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