本計劃將設計一個結合硬體化即時核心(hardwired real-time kernel)的機器人系統晶片。基於先前已完成的機器人控制用途的嵌入式計算平台，結合底層的機器人週邊控制器硬體IP模型，本計劃進一步設計一個高效能的硬體化即時核心，也就是將即時作業系統的微核心(microkernel)以平行和管線化技術實作成硬體整合在嵌入式處理器，此一新架構預期將具有極為優異的即時系統性能，低功耗和快速嵌入式機器人應用軟體開發等優點。本計畫將以嵌入式處理器OpenRISC整合此一即時核心，並以FPGA為基礎的可重組計算架構驗證結合硬體即時核心的機器人系統晶片的性能優勢。最後完整的軟硬體平台實作將在六足機器人進行，並展示多種智慧型機器人的運動控制和仿生漫遊行為。本研究預期可對智慧型機器人的系統晶片設計提供有效的系統層級的解決方案，也針對未來的智慧型機器人產業，提供了少量、多樣用途機器人控制器快速原型化晶片設計的方法和技術。 ; This research aims to integrate a hardwired real-time kernel in a SoC for intelligent robots. Based on the embedded computational platform developed for robot control, the product of our previous research, the present project will further design a hardwired real-time kernel with high performance combining basic peripheral device controllers for robots. In other words, the microkernel of a real-time system will be implemented and integrated in the embedded processor using parallel and pipelining techniques. This brand new architecture provides an excellent real time performance, low power consumption and enables rapid development of embedded software. The FPGA based reconfigurable computing architecture will be used to verify and demonstrate the functionalities and performance of the SoC with hardwired real-time kernel. The software/hardware integrated system will be carried out on a hexapod robot which will demonstrate the motion control and bionic behaviors of a hexapod robot. This research provides the future robot industry with chip design approaches and techniques for the rapid prototyping of intelligent robot characterized by small volume production and wide range of applications. ; 研究期間 9808 ~ 9907
