由於機器人產業的蓬勃發展，機器人的功能和系統複雜度也不斷地攀升，於是機器人系統的開發便成了一種耗時與困難的工作。為了讓機器人系統的開發者能夠透過迅速且容易的方式來進行開發，在本文中我們提出一個用來建造智慧型機器人的嵌入式計算平台。此一平台由上而下具有Application、Operating system、Processor、Bus和Device controller層。我們採用一個可重配置的8-bit嵌入式處理器核心作為平台的計算核心，並針對感測器和制動器分別設計硬體電路自動產生器，用來快速地生成平行的週邊控制器IP。在此嵌入式處理器的基礎上，我們移植了一個微型和可靠的即時作業系統uC/OS-II，以便提供智慧型機器人應用程式的快速開發。最後，我們在具有18個自由度的六腳機器人進行此一計算平台的實作，並以步態行為控制和超音波感測避障實驗來驗證藉由此一平台所開發的智慧型機器人的可重組系統晶片具有高效能、高度整合性、易於擴充和快速合成的優點。

As the robotic industry is growing boomingly, the functionalities and system''s architecture of robots are growing continually too. The development of robotic system then becomes a time-consuming and difficult task. In order to let the developer of robotic system can do the development in fast and easy way; during this paper we propose an embedded computing platform for constructing intelligent robot. This platform in a top-down manner includes application layer、OS layer、processor layer、bus layer and device controller layer. We use a reconfigurable 8-bit processor core as the computing core of the platform and design the hardware circuit automatic generator according to sensors and actuators separately to generate the parallel peripheral controller intellectual property (IP) rapidly. Based on the embedded processor core, a small footprint and reliable real-time OS, uC/OS-II, is ported to this platform for rapid developing intelligent robotic applications. Finally, we implement this computing platform on a hexapod robot which has 18 degree of freedom and verify the reconfigurable SoC, which is developed by this platform, can have the advantages of high efficiency、high integrity、easy for extension and fast synthesis through the experiment of gait behavior control and ultrasonic-based obstacle avoidance.

[1] Brooks, R. A., “A Robust Layered Control System for a Mobile Robot”, IEEE Journal of Robotics and Automation, Vol. 2, No. 1, March 1986, pp. 14–23.
[2] Arkin, R. C., Behavior-Based Robotics, MIT Press, Cambridge, MA, 1998.
[3] Joseph L. Jones, Anita M. Flynn, and Bruce A. Seiger, Mobile Robots: Inspiration to Implementation, AK Peters, Ltd, 1998.
[4] Rainer Bischoff, Volker Graefe, “Learning from Nature to Build Intelligent Autonomous Robots”, Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on Oct. 2006, pp. 3160–3165.
[5] M. Omar Faruque Sarker, ChangHwan Kim, Seungheon Baek, Bum-Jae You, “An IEEE-1394 Based Real-time Robot Control System for Efficient Controlling of Humanoids”, Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on Oct. 2006, pp. 1416–1421.
[6] J. Oh, D. Hanson, W. kim, I. Han, J. Kim, and I. Park, “Design of Android type Humanoid Robot Albert HUBO”, Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on Oct. 2006, pp. 1428–1433.
[7] Fumio Kanehiro, Yoichi Ishiwata, Hajime Saito, Kazuhiko Akachi, Gou Miyamori, Takakatsu Isozumi, Kenji Kaneko, Hirohisa Hirukawa, “Distributed Control System of Humanoid Robots based on Real-time Ethernet”, Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on Oct. 2006, pp. 2471–2477.
[8] http://msdn2.microsoft.com/en-us/robotics/default.aspx
[9] http://www.irobot.com/sp.cfm?pageid=305
[10] http://mindstorms.lego.com/eng/Paris_Destination/default.aspx
[11] http://www.ni.com/academic/mindstorms/
[12] 尤云千、賴健豪 – 仿生機器人步態與行為的人工演化
[13] 紀恩凱 - 仿生物六腳機器人之控制系統設計與行為建模
[14] Brooks, R. A., “How To Build Complete Creatures Rather Than Isolated Cognitive Simulators”, Architectures for Intelligence, K. VanLehn (ed), Erlbaum, Hillsdale, NJ, Fall 1989, pp. 225–239.
[15] R.David, “Grafcet :A powerful tool for specification of logic controllers”, IEEE Trans. on Control Systems Technology, Vol. 3, No. 3, 1995, pp. 253-268.
[16] CHEN, Ching-Han; DAI, Jia_Hong; “Design and high-level synthesis of discrete-event controller”, National Conference of Automatic Control and Mechtronics System, vol.1, 2002, pp. 610–615.
[17] David, R., Alla, H., Petri Nets & Grafcet–Tools for Modeling Discrete Event Systems, New York, Prentice Hall, 1992.
[18] http://www.vsi.org/
[19] http://www.oregano.at/index2.htm
[20] Jean J. Labrosse, MicroC/OS-II The Real-Time Kernel, CMP Books, April 2002
[21] http://www.micrium.com/
[22] http://www.keil.com/
[23] H. Walder and M. Platzner, “Reconfigurable Hardware Operating Systems: From Design Concepts to Realizations”, Proceedings of the 3rd International Conference on Engineering of Reconfigurable Systems and Architectures (ERSA), CSREA Press, June 2003, pp. 284–287.
[24] C. Steiger, H. Walder, and M. Platzner, “Operating Systems for Reconfigurable Embedded Platforms: Online Scheduling of Real-time Tasks”, IEEE Transaction on Computers, vol. 53, no. 11, November 2004, pp. 1392–1407.
[25] M. Ullmann, M. Hubne, B. Grimm, and J. Becker, “On-Demand FPGA Run-Time System for Dynamical Reconfiguration with Adaptive Priorities”, Field Programmable Logic and Application: 14th International Conference, FPL, Springer-Verlag Heidelberg, August 2004, pp. 454–463.
[26] Theelen B.D.; Verschueren A.C.; Reyes Suarez V.V.; Stevens M.P.J.; Nunez A., “A scalable single-chip multi-processor architecture with on-chip RTOS kernel”, Journal of Systems Architecture, Vol. 49, No. 12, December 2003, pp. 619–639.
[27] Becker, J., “Configurable systems-on-chip: challenges and perspectives for industry and universities”, International Conference on Engineering of Reconfigurable Systems and Algorithms (ERSA), 2002, pp. 109–115.
[28] Sun, F., Ravi, S., Raghunathan, A., and Jha, N.K., “Custom-instruction synthesis for extensible-processor platforms”, IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems 23 (2), 2004, pp. 216–228.