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2008 IEEE Biomedical Circuits and Systems Conference
A robot can be seen as a set of actuated joints, each connected to a processing unit that senses feedback signals and generates actuation commands. For robots with high locomotive sophistication, commonly seen in medical robotics, the requisite cabling and control processing can become unwieldy. Motivated by dexterous snake-like robots for minimally invasive surgery, this paper explores the use of IEEE 1394 (FireWire), attached directly to low-latency field-programmable gate arrays (FPGAs), todoi:10.1109/biocas.2008.4696861 fatcat:yhm6sapcz5gyvgeovflcxzkmki