Energy aware HW/SW integration in an autonomous microrobot

Authors:
A. Sanuy;R. Casanova;M. Szymanski;H. Wörn;J. Samitier;A. Dieguez
Affiliations:
Department of Electronics. Sistemes d'Instrumentació i Control, University of Barcelona, Barcelona, Spain;Department of Electronics. Sistemes d'Instrumentació i Control, University of Barcelona, Barcelona, Spain;Institute for Process Control and Robotics, Universität Karlsruhe, Karlsruhe, Germany;Institute for Process Control and Robotics, Universität Karlsruhe, Karlsruhe, Germany;Department of Electronics. Sistemes d'Instrumentació i Control, University of Barcelona, Barcelona, Spain;Department of Electronics. Sistemes d'Instrumentació i Control, University of Barcelona, Barcelona, Spain
Venue:
CIMMACS'07 Proceedings of the 6th WSEAS international conference on Computational intelligence, man-machine systems and cybernetics
Year:
2007

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Abstract

This paper addresses the integration of HW and SW for a 3 mm × 3 mm × 3 mm autonomous microrobot called I-SWARM. The robot is intended to be part of a swarm of up to 1000 members for studying large scale swarm behaviour. The robot is the smallest autonomous robot of the world, equipped with a vibrating contact sensor, a four directional infrared communication module, vibrating legs and an ASIC. It presents an overall architecture of the robot and the SW used. The software is comprised of a hardware abstraction layer and an interpreter for a specially designed control language.