Behaviour-based inverse kinematics solver on FPGA

Abstract

Due to their parallel nature, behaviour-based control architectures can strongly benefit from an implementation on FPGAs. The problem is, to find out the real benefit of such an implementation, since general calculations are difficult, due to the heterogeneity of such systems. In this paper, we present early results of the integration of a behaviour-based inverse kinematics solver, based on the iB2C-architecture, on a common FPGA. It is shown, that this implementation is feasible and that the resulting performance is satisfying. Further benefits are evaluated.