ISSN (print) 0914-4935
ISSN (online) 2435-0869
Sensors and Materials
is an international peer-reviewed open access journal to provide a forum for researchers working in multidisciplinary fields of sensing technology.
Sensors and Materials
is covered by Science Citation Index Expanded
(Clarivate Analytics), Scopus
(Elsevier), and other databases.
Instructions to authors
Instructions for manuscript preparation
Sensors and Materials
Bunkyo-ku, Tokyo 113-0022, Japan
Research, a scientific publisher, seeks a native English-speaking proofreader with a scientific background. B.Sc. or higher degree is desirable. In-office position; work hours negotiable. Call 03-3827-8549 for further information.
(proofreading and recording)
The Art of Writing Scientific Papers
(How to write scientific papers)
Sensors and Materials, Volume 31, Number 6(1) (2019)
Copyright(C) MYU K.K.
S&M1905 Research Paper of Special Issue
Published: June 7, 2019
Humanoid Robot Field-programmable Gate Array Hardware and Robot-operating-system-based Software Machine Co-design [PDF]
Hsuan-Ming Feng, Ching-Chang Wong, Sheng-Ru Xiao, and Chih-Cheng Liu
(Received September 20, 2018; Accepted December 26, 2018)
Keywords: humanoid robot, robot operating system, hardware and software co-design, embedded SoC, FPGA system
We utilized the robot operating system (ROS) and the embedded system-on-a-chip (SoC) field-programmable gate array (FPGA) system to achieve the hardware and software co-design. A novel SoC FPGA processor system architecture is implemented by combining both ARM kernel and FPGA technologies. The advanced FPGA with the parallelized utilization and the powerful central processing unit (CPU) with universal abilities are adopted to complete the hardware and software co-design. The hybrid ROS-based control architectures efficiently communicate with each other at nodes to devise the correct sequential procedures and complete the full transformation of information in the distributed peer-to-peer topology. The humanoid robot platform design is intended to mimic the human body and its related motion to support various tasks. Humanoid robot machines have the limbs and trunk like the human body. The robot’s structure routing comprises connections between sheet-metal parts and linking motors. Motors rotate joints to imitate human motion. Pose and pressure sensors are located at the waist and on the undersides of the two feet, respectively. Sensors intuitively perceive relational robot situations and outdoor environment information. A kernel control board functions like a human brain to gather the whole information. The controller analyzes an appropriated command for the motor driver board to realize the suitable joint motion of the robot. A detail humanoid robot machine design and its related working events in different experiments are shown in this study.
Corresponding author: Hsuan-Ming Feng
This work is licensed under a Creative Commons Attribution 4.0 International License.
Cite this article
Hsuan-Ming Feng, Ching-Chang Wong, Sheng-Ru Xiao, and Chih-Cheng Liu, Humanoid Robot Field-programmable Gate Array Hardware and Robot-operating-system-based Software Machine Co-design, Sens. Mater., Vol. 31, No. 6, 2019, p. 1893-1904.
Forthcoming Regular Issues
Forthcoming Special Issues
Special Issue on Selected Papers from IS3C2018 and AUTO2018 (1)
Guest editor, Hsiung-Cheng Lin (National Chin-Yi University of Technology)Special Issue on Design, Fabrication, Characterization, and Application MEMS
Guest editor, Hiroyuki Fujita (Tokyo City University)Special Issue on Selected Papers from IS3C2018 and AUTO2018 (2)
Guest editor, Hsiung-Cheng Lin (National Chin-Yi University of Technology)Special Issue on New Trend of Robotics and Applications
Guest editor, Ikuo Yamamoto (Nagasaki University)Call for paperSpecial Issue on Universal Power Supply Technologies for Trillion Sensors Era
Guest editor, Keiji Takeuchi (NTT Data Institute of Management Consulting, Inc.)Call for paperSpecial Issue on Magnetic Sensors and Applications
Guest editor, Keiji Tsukada (Okayama University)Call for paperSpecial Issue on Sensors and Materials in Manufacturing
Guest editor, Ming Yang (Tokyo Metropolitan University) and Masao Murakawa (Nippon Institute of Technology)Special Issue on CMOS-driven Biomedical Innovations
Guest editor, Kiichi Niitsu (Nagoya University)Call for paperSpecial Issue on Smart Sensing Technology and Materials for Smart Industry and Environmental Applications
Guest editor, Somyot Kaitwanidvilai (King Mongkut’s Institute of Technology Ladkrabang)Call for paperSpecial Issue on Sensor Fusion and Environment Perception for Autonomous Systems
Guest editor, Chenguang Yang (University of the West of England, Bristol)Call for paperSpecial Issue on Remote Sensing and Geospatial Technologies for Sustainable Development
Guest editor, Dong Ha Lee and Tri Dev Acharya (Kangwon National University)Call for paperSpecial Issue on International Conference on BioSensors, BioElectronics, BioMedical Devices, BioMEMS/NEMS and Applications 2018/2019 (Bio4Apps 2018/2019)
Guest editor, Xiaojun Han (Harbin Institute of Technology)Conference websiteCall for paperSpecial Issue on Environmental Sensing
Guest editor, Hiroshi Aoki and Tetsuya Nakazato (National Institute of Advanced Industrial Science and Technology, AIST)Call for paperSpecial Issue on Advanced Materials on Electronic and Mechanical Devices and their Application on Sensors
Guest editor, Teen-Hang Meen (National Formosa University), Wenbing Zhao (Cleveland State University), and Cheng-Fu Yang (National University of Kaohsiung)Call for paperSpecial Issue on Advanced Micro and Nanomaterials for various Sensor Applications (Selected Papers from ICASI 2019)
Guest editor, Sheng-Joue Young (National Formosa University), Shoou-Jinn Chang (National Cheng Kung University), Liang-Wen Ji (National Formosa University), and Yu-Jen Hsiao (Southern Taiwan University of Science and Technology)Conference websiteCall for paperSpecial Issue on Innovation in Smart Sensing Control, Metrology, Optimization and Intelligent Automation
Guest editor, Cheng-Chi Wang (National Chin-Yi University of Technology)Conference websiteCall for paperSpecial Issue on Materials, Devices, Circuits, Analytical Methods for Various Sensors (Selected Papers from ICSEVEN 2019)
Guest editor, Chien-Jung Huang (National University of Kaohsiung), Cheng-Hsing Hsu (National United University), Ja-Hao Chen (Feng Chia University), and Wei-Ling Hsu (Huaiyin Normal University)Conference websiteCall for paperSpecial Issue on Biological Odor Sensing System and Their Applications
Guest editor, Takeshi Sakurai (Tokyo University of Agriculture)Call for paperSpecial Issue on Software, Algorithms, and Applications Using Sensors and Networks
Guest editor, Yoshito Tobe (Aoyama Gakuin University)Call for paperSpecial Issue on Novel Sensing Technologies for Point of Care, Home Care, and Personal Health Care
Guest editor, Yu-Lin Wang (National Tsing Hua University)Call for paperSpecial Issue on Advances in Shape Memory Materials
Guest editor, Ryosuke Matsui (Aichi Institute of Technology) and Hiroyuki Miki (Tohoku University)Call for paperSpecial Issue on Sensing in Medical Robots
Guest editor, Kenji Kawashima (Tokyo Medical and Dental University)Call for paperSpecial Issue on Optical Sensors: Novel Materials, Approaches, and Applications
Guest editor, Yap Wing Fen (Universiti Putra Malaysia)Call for paper