Reconfigurable and Modular Mobile Robotics Platform for Remote Experiments

Yannick Verbelen, Pieter Taelman, An Braeken, Abdellah Touhafi

Abstract


In this paper a hardware and software architecture
based on a modular approach for a recon?gurable mobile robot
is developed with intended use as remote experiment. A Field
Programmable Gate Array (FPGA) was chosen as control unit for
the robot and allows the implementation of custom hardware and
software by the user. FPGA con?gurations are downloaded to the
robot using a selectable wireless interface. Users can take control
of all elementary robot hardware, and an on-system recovery
mechanism is included to ensure a fallback to a golden image in
case of errors in downloaded bit streams.

Keywords


Modular robotics, FPGA, remote reconfiguration

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International Journal of Online and Biomedical Engineering (iJOE) – eISSN: 2626-8493
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