Wireless BAN on a Bipedal Robot

https://doi.org/10.1016/j.procs.2013.06.081Get rights and content
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Abstract

This paper describes a wireless approach to “wiring” a bipedal robot. The use of a body area network (BAN) based on RF technology saves substantial weight and prevents failures due to broken cables near moving parts. Despite using wireless technology, the resulting system features low latency, high throughput and a fast refresh rate. Energy consumption has been kept at a low level by using off-the-shelf single chip transceivers. Two different network topologies have been experimented with and compared against each other. Using BAN technology, a custom-designed FPGA multi-core processor constantly receives and processes 3D acceleration measurements from sensors mounted on the seven limbs of the robot. The same BAN is also used by the FPGA to send commands back to the limbs.

Keywords

BAN
Body area network
Bipedal robot
RF
Wireless
Network topology
FPGA
Multi-core processor

Cited by (0)

Selection and peer-review under responsibility of Elhadi M. Shakshuki.

1

Lars Widmer, is conducting his PhD at the ETH Zurich, sponsored by MA Systems and Control Ltd, he works in the Native Systems Group of the Computer Systems Department, Clausiusstrasse 59, 8092 Zurich, Switzerland

2

Dennis Majoe is the Technical Director at MA Systems and Control Ltd, Southampton, SO30 3DS, United Kingdom.

3

Jürg Gutknecht is full Professor and Head of the Native Systems Group at ETH Zurich.