HIL/SIL BY DEVELOPMENT OF SIX-LEGGED ROBOT SLAIR2

摘要

The development process of CLAWAR is a complex task. The Hardware- and Software-in-the-Loop frameworks, which are used by development of new 22 DoF six-legged robot SLAIR2 are presented. A novel universal real-time communication bridge system is introduced and test results are presented. The ability to real-time communication and service tasks related control of the robot is discussed.