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