A UNIVERSAL MODULAR AUTONOMOUS ROBOT ARCHITECTURE

Wolfgang Ertel, Joachim Fessler, Nico Hochgeschwender

Abstract

We present a universal modular robot architecture. A robot consists of the following intelligent modules: central control unit (CCU), drive, actuators, a vision unit and sensor input unit. Software and hardware of the robot fit into this structure. We define generic interface protocols between these units. If the robot has to solve a new application and is equipped with a different drive, new actuators and different sensors, only the program for the new application has to be loaded into the CCU. The interfaces to the drive, the vision unit and the other sensors are plug-and-play interfaces. The only constraint for the CCU-program is the set of commands for the actuators.

References

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Paper Citation


in Harvard Style

Ertel W., Fessler J. and Hochgeschwender N. (2005). A UNIVERSAL MODULAR AUTONOMOUS ROBOT ARCHITECTURE . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 391-394. DOI: 10.5220/0001164903910394


in Bibtex Style

@conference{icinco05,
author={Wolfgang Ertel and Joachim Fessler and Nico Hochgeschwender},
title={A UNIVERSAL MODULAR AUTONOMOUS ROBOT ARCHITECTURE},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={391-394},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001164903910394},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - A UNIVERSAL MODULAR AUTONOMOUS ROBOT ARCHITECTURE
SN - 972-8865-30-9
AU - Ertel W.
AU - Fessler J.
AU - Hochgeschwender N.
PY - 2005
SP - 391
EP - 394
DO - 10.5220/0001164903910394