Implementing real-time robotic systems using CHIMERA IIA description is given of the CHIMERA II programming environment and operating system, which was developed for implementing real-time robotic systems. Sensor-based robotic systems contain both general- and special-purpose hardware, and thus the development of applications tends to be a time-consuming task. The CHIMERA II environment is designed to reduce the development time by providing a convenient software interface between the hardware and the user. CHIMERA II supports flexible hardware configurations which are based on one or more VME-backplanes. All communication across multiple processors is transparent to the user through an extensive set of interprocessor communication primitives. CHIMERA II also provides a high-performance real-time kernel which supports both deadline and highest-priority-first scheduling. The flexibility of CHIMERA II allows hierarchical models for robot control, such as NASREM, to be implemented with minimal programming time and effort.
Document ID
19910050532
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Stewart, David B. (Carnegie-Mellon Univ. Pittsburgh, PA, United States)
Schmitz, Donald E. (Carnegie-Mellon Univ. Pittsburgh, PA, United States)
Khosla, Pradeep K. (Carnegie Mellon University Pittsburgh, PA, United States)