A hardware intelligent processing accelerator for domestic service robots. (17th July 2020)

• Record Type: Journal Article
• Authors: Ishida, Yutaro; Morie, Takashi; Tamukoh, Hakaru
• Is Part Of: Advanced robotics. Volume 34:Number 14(2020)
• Page Start: 947
• Page End: 957
• Publication Date: 2020-07-17
• Subjects: Robot operating system (ROS) -- field-programmable gate array (FPGA) -- domestic service robot -- intelligent processing -- RoboCup@Home; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2020.1769726
• Languages: English
• ISSNs: 0169-1864

Abstract

ABSTRACT: We present a method for implementing hardware intelligent processing accelerator on domestic service robots. These domestic service robots support human life; therefore, they are required to recognize environments using intelligent processing. Moreover, the intelligent processing requires large computational resources. Therefore, standard personal computers (PCs) with robot middleware on the robots do not have enough resources for this intelligent processing. We propose a 'connective object for middleware to an accelerator (COMTA), ' which is a system that integrates hardware intelligent processing accelerators and robot middleware. Herein, by constructing dedicated architecture digital circuits, field-programmable gate arrays (FPGAs) accelerate intelligent processing. In addition, the system can configure and access applications on hardware accelerators via a robot middleware space; consequently, robotic engineers do not require the knowledge of FPGAs. We conducted an experiment on the proposed system by utilizing a human-following application with image processing, which is commonly applied in the robots. Experimental results demonstrated that the proposed system can be automatically constructed from a single-configuration file on the robot middleware and can execute the application 5.2 times more efficiently than an ordinary PC. GRAPHICAL ABSTRACT: UF0001