Cable-anchor robot implementation using embedded CD++

  • Authors:

  • Keith Holman;Jeremy Kuzub;Mohammad Moallemi;Gabriel Wainer

  • Affiliations:

  • Carleton University, Ottawa, Canada;Carleton University, Ottawa, Canada;Carleton University, Ottawa, Canada;Carleton University, Ottawa, Canada

  • Venue:
  • Proceedings of the 2nd International Conference on Simulation Tools and Techniques
  • Year:
  • 2009

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Abstract

We show the design and implementation of a robot controller with a unique locomotion system. We demonstrate that a discrete-event simulation based design provides a cost-effective, flexible, open workflow for modular robotic development. The robot is designed to translate against a vertical surface using cables fixed at one end that can wind on motor-controlled spools attached to the robot. This architecture was implemented first as a regressively tested simulation within CD++ then ported to Real-time CD++. Using the NXT++ interface library, a hardware implementation of the robot using Lego® Mindstorms™ was shown to be controllable.