Extensible Hardware Architecture for Mobile Robots

E. Park, L. Kobayashi, S.Y. Lee
Proceedings of the 2005 IEEE International Conference on Robotics and Automation  
Absfruct-Tbe Intelligent Robotics Group at NASA Ames Research Center has developed a new mobile robot hardware architecture designed for extensibility and reconfigurability. Currently implemented on the k-9 rover. and won to be integrated onto the H O series of burnan-robot collaboration research robots, this achitecture allows for rapid changes in instrumentation configuration and provides a high degree of modularity through a synergistic mix of off-the-shelf and custom designed components,
more » ... gned components, allowing eased transplantation into a wide vane6 of mobile robot platforms. A component level overview of this architecture is presented along with a description of the changes required for implementation on U O , followed by plans for future work. Zndex Ternsmodular. extensible, hardware architecture, mobile robot, k9
doi:10.1109/robot.2005.1570584 dblp:conf/icra/ParkKL05 fatcat:oxoltrrm3rbzjl2patfcw35req