DocumentCode
2057108
Title
Design of an embedded networking infrastructure for whole-body tactile sensing in humanoid robots
Author
Baglini, Emanuele ; Cannata, Giorgio ; Mastrogiovanni, Fulvio
Author_Institution
Dept. of Commun., Comput. & Syst. Sci., Univ. of Genova, Genova, Italy
fYear
2010
fDate
6-8 Dec. 2010
Firstpage
671
Lastpage
676
Abstract
Whole-body tactile sensing, especially when aimed at implementing tactile-based motion control, requires well-defined infrastructures. Requirements related to Real-Time operation, bandwidth and robustness must be carefully addressed. With respect to a tactile technology described in, this paper discusses a number of infrastructural solutions based on a Ethernet Real-Time protocol. Associated benefits and drawbacks are discussed. The identified models and solutions are compared both analytically and with extensive numerical simulations.
Keywords
embedded systems; humanoid robots; local area networks; motion control; path planning; protocols; tactile sensors; embedded networking infrastructure; ethernet real-time protocol; humanoid robots; tactile based motion control; whole body tactile sensing; Ethernet networks; Manganese; Microcontrollers; Payloads; Protocols; Real time systems; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Humanoid Robots (Humanoids), 2010 10th IEEE-RAS International Conference on
Conference_Location
Nashville, TN
Print_ISBN
978-1-4244-8688-5
Electronic_ISBN
978-1-4244-8689-2
Type
conf
DOI
10.1109/ICHR.2010.5686834
Filename
5686834
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