Whole-body tactile sensing, especially when aimed at implementing tactile-based motion control, requires well-defined infrastructures. Requirements related to Real-Time operation, bandwidth and robustness must be carefully addressed. With respect to a tactile technology described in, this paper discusses a number of infrastructural solutions based on a Ethernet Real-Time protocol. Associated benefits and drawbacks are discussed. The identified models and solutions are compared both analytically and with extensive numerical simulations.
Design of an embedded networking infrastructure for whole-body tactile sensing in humanoid robots
BAGLINI, EMANUELE;CANNATA, GIORGIO;MASTROGIOVANNI, FULVIO
2010-01-01
Abstract
Whole-body tactile sensing, especially when aimed at implementing tactile-based motion control, requires well-defined infrastructures. Requirements related to Real-Time operation, bandwidth and robustness must be carefully addressed. With respect to a tactile technology described in, this paper discusses a number of infrastructural solutions based on a Ethernet Real-Time protocol. Associated benefits and drawbacks are discussed. The identified models and solutions are compared both analytically and with extensive numerical simulations.
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