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轮桨腿一体化两栖机器人控制系统设计
Alternative TitleControl system design of the Wheel-Paddle-Leg Integration Amphibious Robot
宋吉来; 俞建成; 公丕亮; 李智刚
Department水下机器人研究室
Source Publication微计算机信息
ISSN1008-0570
2009
Volume25Issue:5Pages:208-210
Indexed ByCSCD
CSCD IDCSCD:3610051
Contribution Rank1
Funding Organization基金申请人:俞建成;项目名称:轮桨腿一体两栖机器人研究;基金颁发部门:国家自然科学基金(60605029);;基金申请人:郭威;项目名称:轮桨腿一体两栖机器人研究;基金颁发部门:国家863计划(2006AA04Z232)
Keyword两栖机器人 Can总线 分布式控制系统 嵌入式系统
Abstract为满足轮桨腿一体化两栖机器人控制系统各模块间信息交换的实时性、灵活性、可扩展性和可靠性的要求,将CAN总线应用于轮桨腿一体化两栖机器人控制系统中。从硬件和软件两方面,介绍了CAN总线在轮桨腿一体化两栖机器人中的应用方案,设计了基于ARM7处理器的CAN总线控制节点,提出了适用于两栖机器人的CAN总线应用层协议方案。
Other AbstractIn order to meet the request of timeliness,flexibility,extendibility and reliability of information exchanges between various modules of the Wheel-Paddle-Leg Integration Amphibious Robot,CAN bus is applied to control system design of the Wheel-Paddle-Leg Integration Amphibious Robot.The application of CAN bus in the Wheel-Paddle-Leg Integration Amphibious Robot is introduced from the viewpoint of the hardware and software.The control nodes of CAN bus using ARM7 microprocessor is designed and an appli-cation layer protocol of CAN bus applied to the Wheel-Paddle-Leg Integration Amphibious Robot is proposed.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/3460
Collection水下机器人研究室
Corresponding Author宋吉来
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院研究生院
Recommended Citation
GB/T 7714
宋吉来,俞建成,公丕亮,等. 轮桨腿一体化两栖机器人控制系统设计[J]. 微计算机信息,2009,25(5):208-210.
APA 宋吉来,俞建成,公丕亮,&李智刚.(2009).轮桨腿一体化两栖机器人控制系统设计.微计算机信息,25(5),208-210.
MLA 宋吉来,et al."轮桨腿一体化两栖机器人控制系统设计".微计算机信息 25.5(2009):208-210.
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