A hardware/software architecture for the control of self reconfigurable robots
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.
KeywordsField Programmable Gate Array Pulse Width Modulation Hardware Architecture Connection Request Modular Robot
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