Cable-anchor robot implementation using embedded CD++

Abstract

We show the design and implementation of a robot controller with a unique locomotion system. We demonstrate that a discrete-event simulation based design provides a cost-effective, flexible, open workflow for modular robotic development. The robot is designed to translate against a vertical surface using cables fixed at one end that can wind on motor-controlled spools attached to the robot. This architecture was implemented first as a regressively tested simulation within CD++ then ported to Real-time CD++. Using the NXT++ interface library, a hardware implementation of the robot using Lego® Mindstorms™ was shown to be controllable.