Ocera (Open Components for Embedded Real-Time Applications, is an European project, based on Open Source, which provides an integrated execution environment for embedded real-time applications. Ocera combines the use of two kernels, Linux and RTLinux-GPL to provide support for critical tasks and soft real-time applications.
StandAlone RTLinux in Robotics
StandAlone RTLinux has beend ported successfully to Transmeta processor to run Yabiro Control Real-Time Application.
Yabiro Biped Robot
Yabiro is an anthropomorphic small biped robot with a total of 14 DoF (Degrees of Freedom), the number of joints can seem to be reduced in comparision with a human, but this mechanical structure gives us enough mobility. The joints are distributed as follows: two in the ankle, one in the knee, three in the hip and two in the torso. Many biped robot designs have been implemented with a similar structure. A embedded intelligent motor controller (IMCD) has been also designed and implemented in each joint node of the distributed architecture, to work inside the real time network (CAN).
Yabiro Papers
docs/paper_r5.pdf Yabiro, a new aproach to small biped robots
docs/iros_05.pdf Distributed real time architecture for small biped robot Yabiro
docs/Yabiro.pdf Yabiro: Prototipo de Robot Bipedo Autonomo (SPANISH)