A Distributed SPI-Based Architecture for Reliable Force Estimation in Wheeled Humanoid Robots

Le résumé fourni par la source

This paper proposes an implementation of the Serial Peripheral Interface (SPI) protocol to manage data information coming from four slave STM32F407Discovery microcontrollers that process data from its own force-torque sensor located in each corner of the mobile platform of a humanoid robot. The aim is to calculate the resultant force applied to the robot by the master microcontroller and estimate the contact location. A performance evaluation of the SPI protocol was executed to quantify the frequency of data received by the master device with and without the integration of Hamming Codes as an additional mechanism to guarantee reliable data. Additional tests were executed to measure the data reliability for both SPI implementations resulting in zero errors on each case in a controlled environment. As it was expected, integrating Hamming code to SPI protocol reduces the frequency in which the master device receives the data, and therefore the user should decide if prefer more reliable data using mechanisms for error detection and correction or a higher frequency using a pure SPI protocol that also can provide reliable data in a low electromagnetic interference environment.

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