@inproceedings{7d4c763fc1744e41bf2ef7868a6cc0e0,
title = "The Real-time Control Framework for a Modular Snake Robot",
abstract = "The Robot Operating System (ROS) is widely adopted for the control of the robots which is usually running on the Linux system with a standard kernel. But snake robot has a high requirement for the real-time of the control framework since it has several modules which contain a variety of sensors. To solve the problem, the control frame based on the Xenomai real-time system is developed by inserting a patch to the kernel and the real-time performance can be further enhanced by priority scheduling. The proposed control framework of the snake robot is applied to deal with the non-real-time communication thread with ROS packages and the real-time communication thread with the joint controller. So the application programs based on the proposed control framework can realize the multi-task function and be compatible with the ROS system. At last, the experiments validate that the control framework can control the hardware of the snake robot efficiently.",
keywords = "control framework, real-time, snake robot",
author = "Yunhu Zhou and Zhiqi Li and Yuanfei Zhang and Fenglei Ni and Yongjun Sun and Hong Liu",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 4th International Conference on Robotics and Automation Engineering, ICRAE 2019 ; Conference date: 22-11-2019 Through 24-11-2019",
year = "2019",
month = nov,
doi = "10.1109/ICRAE48301.2019.9043797",
language = "英语",
series = "2019 4th International Conference on Robotics and Automation Engineering, ICRAE 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "168--172",
booktitle = "2019 4th International Conference on Robotics and Automation Engineering, ICRAE 2019",
address = "美国",
}