From the series: MathWorks Research Summit
DI Florian Enner, HEBI Robotics
HEBI Robotics makes APIs for MATLAB® that enable the real-time control of complex robots from standard MATLAB scripts. This is accomplished by splitting the control problem into two layers:
This allows code to be quickly prototyped, developed, and iterated upon directly in the standard MATLAB working environment, while at the same time achieving performance virtually indistinguishable from code written C++ in a real-time environment.
Just as important, this layered approach also allows the critical tasks of motor control, sensor processing, and safety monitoring to run in a set of carefully controlled real-time environments distributed throughout the robot. This enables researchers to try out new ideas directly in hardware without worrying about inconsistent performance or damaging the robot hardware.
This discussion provides the technical background and implementation details of the HEBI API for MATLAB. In particular, the discussion shows how the MATLAB Java interface allows the API to create background threads that off-load tasks like communications, synchronization, and logging in order to keep the MATLAB thread available for the main control algorithms and other calculations that are the real focus of a researcher’s work.
More information can be found at:
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