Locomotion of a modular worm-like robot using a FPGA-based embedded microBlaze soft-processor

摘要: Modular reconfigurable robots offer the promise of more versatility, robustness, and low cost. They are composed simple small modules, capable attach detach one to each other. In this paper, a modular worm-like robot chain 8 similar modules is presented. A travelling wave, that moves from tail head, propels forward. The positions articulations calculated using following parameters: waveform, amplitude, wavelength. Instead conventional architecture, FPGA-based soft-processor core utilized. It includes set custom peripheral cores, written in VHDL. FPGAs make versatile, adding some new featureas design like control, hardware reuse, lower cost, fault-recovering, software/hardware co-design.