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Proceedings Paper

The robotics bus: a local communications bus for robots
Author(s): Daniel Gomez-Ibanez; Ethan Stump; Benjamin P. Grocholsky; Vijay Kumar; Camillo J. Taylor
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Paper Abstract

We address the development of a local bus architecture for robot systems that facilitates modular development, and increases the reliability of systems composed of heterogeneous sensors and actuators. The communications bus is based on Control Area Network (CAN), and supports distributed processing in physically separate nodes. Modular cabling and a modular software interface facilitate assembly and modification, and all bus communication is browseable for configuration and troubleshooting. We demonstrate two implementations of this system, and discuss its performance and capabilities compared to alternate communication architectures, with specific emphasis on mobile robots.

Paper Details

Date Published: 29 December 2004
PDF: 9 pages
Proc. SPIE 5609, Mobile Robots XVII, (29 December 2004); doi: 10.1117/12.571476
Show Author Affiliations
Daniel Gomez-Ibanez, Univ. of Pennsylvania (United States)
Ethan Stump, Univ. of Pennsylvania (United States)
Benjamin P. Grocholsky, Univ. of Pennsylvania (United States)
Vijay Kumar, Univ. of Pennsylvania (United States)
Camillo J. Taylor, Univ. of Pennsylvania (United States)

Published in SPIE Proceedings Vol. 5609:
Mobile Robots XVII
Douglas W. Gage, Editor(s)

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