Universal Controller Module (UCoM) - component of a modular concept in robotic systems

Regenstein, K.; Kerscher, Thilo; Birkenhofer, C.; Asfour, Tamim; Zöllner, Marius; Dillmann, Rüdiger

doi:10.1109/isie.2007.4374930

Cited by 12 publications

(4 citation statements)

References 6 publications

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“…It subdivides the system into understandable hierarchical layers and small individual behaviors [8] The Hardware Architecture consists of the LAURON on-board PC, which offers sufficient computational power to run all the software, the behavior-based control system, and the hardware abstraction layer, on the robot. As well as in LAURON IV, which is controlled by a similar behavior-based control architecture [139], the low-level PID joint controllers work on custom motor controller boards (UCoM-Universal Controller Modules [140]) that are connected to the control PC via the CAN bus interface. The control center, which includes a 3D model of the robot and all relevant control interfaces, is executed on an independent external PC.…”

Section: Lauron Control Architecturementioning

confidence: 99%

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

Prados,

Hernando,

Gambao

et al. 2024

Biomimetics

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Robotic control is a fundamental part of autonomous robots. Modular legged and climbing robots are complex machines made up of a variety of subsystems, ranging from a single robot with simple legs to a complex system composed of multiple legs (or modules) with computing power and sensitivity. Their complexity, which is increased by the fact of needing elements for climbing, makes a correct structure crucial to achieve a complete, robust, and versatile system during its operation. Control architectures for legged robots are distinguished from other software architectures because of the special needs of these systems. In this paper, we present an original classification of modular legged and climbing robots, a comprehensive review of the most important control architectures in robotics, focusing on the control of modular legged and climbing robots, and a comparison of their features. The control architecture comparison aims to provide the analytical tools necessary to make informed decisions tailored to the specific needs of your robotic applications. This article includes a review and classification of modular legged and climbing robots, breaking down each category separately.

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Section: Lauron Control Architecturementioning

confidence: 99%

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

Prados,

Hernando,

Gambao

et al. 2024

Biomimetics

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“…In this case a key problem is the communication between the decentralized nodes and the host PC. Most of these robots uses the CAN Bus communication protocol, typically with multiple channels, for example HUBO [140], ARMAR-III [151] and iCub [188]. Few robots employ other communication systems than CAN.…”

Section: Computer Architecturementioning

confidence: 99%

Development of architecture and generalized modules structure for robotic complexes distributed control system for different applications

Krestovnikov¹,

Erashov²

2022

Rob.andTech.Cyb.J.

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The autonomous robotic complexes allow solving a wide range of scientific, civil and military tasks. In order to work correctly, these complexes have to include a number of heterogeneous functional systems in its composition. The implementation of these systems requires a significant number of separate modules and devices that makes it relevant to develop new approaches to the organization of control systems that correspond to complexity of the object. This work is aimed at the development of distributed control systems for robotic complexes. This paper presents the architecture of the distributed and centralized control system, also the generalized modules structure for its realization. The proposed architecture consists of three levels and it can be used for autonomous robotic complexes and unmanned vehicles for different applications. The generalized structure of the modules allows developing typical circuit solutions for sensor and actuating modules of the system. The control system of the mobile autonomous robotic platform for general purposes was developed and realized based on the proposed architecture. In this robotic complex the CANbus is used as internal system communication bus, through that the data exchange is accomplished between modules of devices level and high-level controller. The devices level of the robotic platform includes fourteen modules, including the modules of the motor-wheels control, in the example of that the application of the proposed generalized structure was considered.

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“…Except that, in addition to similar systems used in the automotive industry, there are also different bootloader and full-scale software update systems designed based on CAN communication protocol. An example of these systems is the software update system that enables the update of the embedded software of the DSP chips used in robotic systems to perform various control operations via the CAN communication line [9].…”

Section: Introduction *mentioning

confidence: 99%

CAN Bus Based Firmware Update System for Distributed Embedded Systems Consisting of ARM Cortex-M0 Series Microcontrollers

Kindan¹,

Kizir²

2019

Kocaeli Journal of Science and Engineering

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In this study, design of a firmware update system for distributed embedded systems consisting of nodes with ARM Cortex M0 microcontrollers is presented. The nodes in the system are connected to each other over high speed CAN Bus 2.0A protocol and the system is controlled by a PC via a graphical user interface. The system allows user to update the Firmware of system nodes through the CAN Bus network. Complete firmware update system for distributed embedded systems with CAN Bus field network is provided by the system designed in this study. With the custom bootloader developed during this study, in application firmware update over CAN Bus feature is integrated to 32 bit STM32F072 microcontroller.

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Universal Controller Module (UCoM) - component of a modular concept in robotic systems

Cited by 12 publications

References 6 publications

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

Development of architecture and generalized modules structure for robotic complexes distributed control system for different applications

CAN Bus Based Firmware Update System for Distributed Embedded Systems Consisting of ARM Cortex-M0 Series Microcontrollers

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