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Embedded Systems Projects, IEEE 2012 Abstracts LIMBLESS LOCOMOTION: LEARNING TO CRAWL WITH A SNAKE ROBOT SNAKE ROBOTS THAT LEARN TO LOCOMOTE
Robots can locomote using body motions; not wheels or legs. Natural analogues, such as snakes, although capable of such locomotion, are understood only in a qualitative sense and the detailed mechanics, sensing and control of snake motions are not well understood. Historically, mobile vehicles for terrestrial use have either been wheeled, tracked or legged. Prior art reveals several serpentine locomotor efforts, but there is little in the way of practical mechanisms and flexible control for limbless locomoting devices. Those mechanisms that exist in the laboratory exhibit only the rough features of natural limbless locomotors such as snakes. The motivation for this work stems from environments where traditional machines are precluded due to size or shape and where appendages such as wheels or legs cause entrapment or failure. Example environments include tight spaces, long narrow interior traverses, and movement over loose materials and terrains. Several applications, including industrial inspection and exploration of hazardous environments, compel serpentine robots. This research develops a general framework for teaching a complex electromechanical robot to become mobile where sequences of body motions alone provide progression.
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The framework incorporates a learning technique, physical modeling, metrics for evaluation, and the transfer of results to a snake -like mobile robot. The mechanism and control of a 20 degre e of freedom snake robot is described and multiple gaits are demonstrated including novel non-biological gaits. This research furthers the design and control of limbless robots.
NCCT, 109, 2 nd Floor, Bombay Flats, Nungambakkam High Road, Nungambakkam, Chennai 600034. Near Ganpat Hotel, Above IOB, Next to ICICI Bank Projects in Embedded Systems * Embedded Microcontrollers, VLSI * DSP * Matlab * Power Electronics * Java * .NET * Android * NS2
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Architecture Diagram
Block Diagram
NCCT, 109, 2 nd Floor, Bombay Flats, Nungambakkam High Road, Nungambakkam, Chennai 600034. Near Ganpat Hotel, Above IOB, Next to ICICI Bank Projects in Embedded Systems * Embedded Microcontrollers, VLSI * DSP * Matlab * Power Electronics * Java * .NET * Android * NS2
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EMBEDDED HARDWARE REQUIREMENTS Microcontroller, Atmel 89c51 / 52 Embedded Active components Embedded Passive components Electromechanical components Electrical components
SOFTWARE REQUIREMENTS
Assembly Language Embedded C KEIL Compiler HARDWARE REQUIREMENTS
If PC is used, for Independent Kits, this will not applicable
: Pentium Dual Core Processor + Board : 1 GB : 80 GB : 17 Color Monitor : Logitech Mouse : Multimedia Keyboard
SOFTWARE REQUIREMENTS Operating System Front End Database : : : Windows XP Visual Basic / Java Access
NCCT, 109, 2 nd Floor, Bombay Flats, Nungambakkam High Road, Nungambakkam, Chennai 600034. Near Ganpat Hotel, Above IOB, Next to ICICI Bank Projects in Embedded Systems * Embedded Microcontrollers, VLSI * DSP * Matlab * Power Electronics * Java * .NET * Android * NS2
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ABOUT EMBEDDED SYSTEMS
PERIPHERALS
Embedded Systems talk with the outside world via peripherals, such as:
Serial Communication Interfaces (SCI): RS-232, RS-422, RS-485 etc. Synchronous Serial Communication Interface: I2C, SPI, SSC and ESSI (Enhanced Synchronous Serial Interface) Universal Serial Bus (USB) Multi Media Cards (SD Cards, Compact Flash etc.) Networks: Ethernet, LonWorks, etc. Fieldbuses: CAN-Bus, LIN-Bus, PROFIBUS, etc. Timers: PLL(s), Capture/Compare and Time Processing Units Discrete IO: aka General Purpose Input/Output (GPIO) Analog to Digital/Digital to Analog (ADC/DAC) Debugging: JTAG, ISP, ICSP, BDM Port, BITP, and DP9 ports.
NCCT, 109, 2 nd Floor, Bombay Flats, Nungambakkam High Road, Nungambakkam, Chennai 600034. Near Ganpat Hotel, Above IOB, Next to ICICI Bank Projects in Embedded Systems * Embedded Microcontrollers, VLSI * DSP * Matlab * Power Electronics * Java * .NET * Android * NS2
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MICROCONTROLLERS
NCCT, 109, 2 nd Floor, Bombay Flats, Nungambakkam High Road, Nungambakkam, Chennai 600034. Near Ganpat Hotel, Above IOB, Next to ICICI Bank Projects in Embedded Systems * Embedded Microcontrollers, VLSI * DSP * Matlab * Power Electronics * Java * .NET * Android * NS2