An FPGA Based Architecture for Concurrent System Design Applied to Human-robot Interaction Applications

摘要

This paper presents a hardware and software architecture for vision-based human-robot interaction designed for field programmable gate array (FPGA) based embedded system. The configurable logic and memory blocks connected through programmable interconnects on the FPGA permit programmers to create complex systems running multiple processing cores in parallel, which motivated the authors to implement vision algorithms and robot controllers on a single system-on-chip (SoC) board, aiming at low cost, low power consumption and high performance in human-robot interaction for industrial and educational robots. The architecture is a product derived from a component based programming model together with a systematic methodology for concurrent system design proposed by the authors.