A hardware/software architecture for the control of self reconfigurable robots

  • Claude Guéganno
  • Dominique Duhaut
Conference paper


Self-reconfigurable robots are built on a set of elementary modules. We focus here on a part of the realization of such system: the control system. This control is based on a processing unit developed around a CPU + FPGA computing system communicating through bluetooth. On this hardware architecture we build a software architecture that we describe and discuss the advantages and limitations.


Field Programmable Gate Array Pulse Width Modulation Hardware Architecture Connection Request Modular Robot 


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Copyright information

© Springer 2007

Authors and Affiliations

  • Claude Guéganno
    • 1
  • Dominique Duhaut
    • 1
  1. 1.Université de Bretagne Sud LorientFrance

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