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dc.contributor.author
Widmer, Lars
dc.contributor.supervisor
Gross, Thomas
dc.contributor.supervisor
Buchli, Jonas
dc.contributor.supervisor
Meng, Qinggang
dc.contributor.supervisor
Friedrich, Felix
dc.date.accessioned
2018-11-02T09:33:04Z
dc.date.available
2018-11-02T08:26:48Z
dc.date.available
2018-11-02T09:33:04Z
dc.date.issued
2018-11-02
dc.identifier.uri
http://hdl.handle.net/20.500.11850/300748
dc.identifier.doi
10.3929/ethz-b-000300748
dc.description.abstract
Self-contained bipedal robots are emerging in our daily environment. As their tasks grow in complexity, controlling such robots will become a demanding endeavour. In the course of this dissertation a novel control infrastructure has been developed, im- plemented and successfully tested. The infrastructure distinguishes itself through a distributed architecture, using wireless communication and consistent deployment of many-core processors based on field-programmable gate arrays (FPGAs). The overall benefits comprise spared mass combined with vast computational power of five nodes of which each runs up to 40 truly parallel tasks in real-time with cus- tom communication structures. Reducing mass is crucial as in a human environment a lightweight robot is safer as it requires smaller forces to move its own mass and inflicts far less damage in case of an accident. The distributed approach avoids blind communication of large amounts of raw data throughout the robot. The sensors are located on the limbs in order to capture their angles and motions. And the valves and actuators of a pneumatic robot are ideally situated directly on the limbs, too. Mounting a controller on each of the shins, thighs and on the hips enables to colocate the controllers with the sensors and actuators there – in the course of this the wiring of the sensors effectively vanishes. Through the resulting degree of local processing the nodes become essentially autonomous, rendering robot- wide transmission of sensor data and valve control largely unnecessary. Using a wireless body area network (WBAN) to connect the distributed controllers on the robot’s limbs eases the robot’s construction and spares mass. Moreover, wireless technology enables each node to connect directly to each other node (N -to-N network), without quadratic growth of the hardware requirements. Despite the distributed architecture, the system remains straightforward and manage- able through the use of an integrated software/hardware co-design tool (ETHZ’s Active Cells) – and the high-level control becomes more concise, due to the abstraction inher- ently introduced by the distribution.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
ETH Zurich
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.subject
Wireless communication
en_US
dc.subject
Distributed control
en_US
dc.subject
Distributed computing
en_US
dc.subject
ROBOT CONTROL
en_US
dc.subject
Body area networks
en_US
dc.subject
AUTONOMOUS ROBOTS
en_US
dc.subject
Autonomous vehicle
en_US
dc.subject
Bipedal Robot
en_US
dc.subject
Pneumatic actuation
en_US
dc.subject
Locomotion control
en_US
dc.subject
Jumping robot
en_US
dc.subject
Many-core
en_US
dc.subject
Many-Core Programming
en_US
dc.subject
Many-Core Systems
en_US
dc.subject
FPGA
en_US
dc.subject
RF
en_US
dc.subject
ODE model
en_US
dc.subject
Simulation
en_US
dc.subject
DSL
en_US
dc.title
A Distributed Control System for a Self-Contained Bipedal Robot
en_US
dc.type
Doctoral Thesis
dc.rights.license
In Copyright - Non-Commercial Use Permitted
ethz.size
142 p.
en_US
ethz.code.ddc
DDC - DDC::6 - Technology, medicine and applied sciences::621.3 - Electric engineering
ethz.code.ddc
DDC - DDC::0 - Computer science, information & general works::004 - Data processing, computer science
ethz.code.ddc
DDC - DDC::0 - Computer science, information & general works::004 - Data processing, computer science
en_US
ethz.code.jel
JEL - JEL::L - Industrial Organization::L7 - Industry Studies: Primary Products and Construction
en_US
ethz.identifier.diss
25175
en_US
ethz.publication.place
Zurich
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02150 - Dep. Informatik / Dep. of Computer Science::03422 - Gross, Thomas (emeritus) / Gross, Thomas (emeritus)
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02150 - Dep. Informatik / Dep. of Computer Science::03422 - Gross, Thomas (emeritus) / Gross, Thomas (emeritus)
en_US
ethz.tag
distributed, control, self-contained, independent, autonomous, bipedal, robot, biped, pneumatic actuation, running, walking, many-core, FPGA, wirless, RF, ODE, simulation, DSL, ETH Zurich, MA Systems
en_US
ethz.relation.cites
20.500.11850/26768
ethz.relation.cites
20.500.11850/97473
ethz.relation.cites
20.500.11850/26769
ethz.relation.cites
20.500.11850/45138
ethz.relation.cites
20.500.11850/62946
ethz.relation.cites
20.500.11850/21959
ethz.relation.cites
20.500.11850/21961
ethz.relation.cites
20.500.11850/28750
ethz.relation.documents
20.500.11850/78212
ethz.date.deposited
2018-11-02T08:26:50Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2018-11-02T09:34:52Z
ethz.rosetta.lastUpdated
2020-02-15T15:45:08Z
ethz.rosetta.exportRequired
true
ethz.rosetta.versionExported
true
ethz.COinS
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