Design and Implementation of Multi-HILS based Robot Testbed to Support Software Validation of Biomimetic Robots 


Vol. 13,  No. 6, pp. 243-250, Jun.  2024
https://doi.org/10.3745/TKIPS.2024.13.6.243


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  Abstract

Biomimetic robots, which emulate characteristics of biological entities such as birds or insects, have the potential to offer a tactical advantage in surveillance and reconnaissance in future battlefields. To effectively utilize these robots, it is essential to develop technologies that emulate the wing flapping of birds or the movements of cockroaches. However, this effort is complicated by the challenges associated with securing the necessary hardware and the complexities involved in software development and validation processes. In this paper, we presents the design and implementation of a multi-HILS based biomimic robot software validation testbed using modeling and simulation (M&S). By employing this testbed, developers can overcome the absence of hardware, simulate future battlefield scenarios, and conduct software development and testing. However, the multi-HILS based testbed may experience inter-device communication delays as the number of test robots increases, significantly affecting the reliability of simulation results. To address this issue, we propose the data distribution service priority (DDSP), a priority-based middleware. DDSP demonstrates an average delay reduction of 1.95 ms compared to the existing DDS, ensuring the required data transmission quality for the testbed.

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[IEEE Style]

H. Kim, K. Kim, B. Ha, J. Y. Kim, S. J. Shim, J. H. Koo, W. Kim, "Design and Implementation of Multi-HILS based Robot Testbed to Support Software Validation of Biomimetic Robots," The Transactions of the Korea Information Processing Society, vol. 13, no. 6, pp. 243-250, 2024. DOI: https://doi.org/10.3745/TKIPS.2024.13.6.243.

[ACM Style]

Hanjin Kim, Kwanhyeok Kim, Beomsu Ha, Joo Young Kim, Sung Jun Shim, Jee Hoon Koo, and Won-Tae Kim. 2024. Design and Implementation of Multi-HILS based Robot Testbed to Support Software Validation of Biomimetic Robots. The Transactions of the Korea Information Processing Society, 13, 6, (2024), 243-250. DOI: https://doi.org/10.3745/TKIPS.2024.13.6.243.

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