Design and implementation of a high power robot distributed control system on dependable responsive multithreaded processor (D-RMTP)

Takuma Shirai, Kohei Osawa, Hiroyuki Chishiro, Nobuyuki Yamasaki, Masayuki Inaba

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

The robotics field provides with many typical applications of Cyber-Physical Systems (CPS). Robots are expected to be deployed in a wide variety of applications including life supporting work or disaster response and therefore they need to follow strict safety and dependability constraints. In order to create robots with high utility, safety and dependability, research has focused both on creating mechanically safe systems and safe control laws. Throughout the present work, we use the embedded real-time processor D-RMTP as a motor controller to attain high responsiveness on a high power robot. D-RMTP has a hardware mechanism to support hard real-time processing, which enables lower-jitter and lower-overhead processing compared with conventional software based real-time execution (Real-Time Task). Responsive Task, a real-time execution mechanism based on D-RMTP, has also been proposed in recent works. In this paper, we have evaluated the effects of the low-jitter and low-overhead performance of Responsive Task on a distributed robot control system. The result of the experiment showed that Responsive Task resulted in improving the control cycle speed and the responsiveness of the controller.

Original languageEnglish
Title of host publicationProceedings - 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages19-24
Number of pages6
ISBN (Electronic)9781509044030
DOIs
Publication statusPublished - 2016 Dec 22
Event4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016 - Nagoya, Japan
Duration: 2016 Oct 62016 Oct 7

Other

Other4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016
CountryJapan
CityNagoya
Period16/10/616/10/7

Keywords

  • distributed control system
  • real-time
  • robotics

ASJC Scopus subject areas

  • Computer Science Applications
  • Computer Networks and Communications
  • Hardware and Architecture
  • Artificial Intelligence
  • Computer Vision and Pattern Recognition

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    Shirai, T., Osawa, K., Chishiro, H., Yamasaki, N., & Inaba, M. (2016). Design and implementation of a high power robot distributed control system on dependable responsive multithreaded processor (D-RMTP). In Proceedings - 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016 (pp. 19-24). [7796576] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CPSNA.2016.12