The application discloses a somatotype
robot domain
control system and method adopting heterogeneous computing
hierarchical design, and relates to the technical field of robots.The
system comprises a heterogeneous hardware platform taking RZ / T2H chips as carriers, a
scheduling system, and a physical-computing fusion
control algorithm framework.The
scheduling system and the physical-computing fusion
control algorithm framework are both arranged on the heterogeneous hardware platform.The heterogeneous hardware platform integrates
intelligent computing wings, real-
time control wings, special-purpose acceleration units, and deterministic data pipelines.The application realizes deep decoupling and efficient cooperation of
intelligent decision-making and real-
time control, guarantees full-link timing determinacy and task priority, and processes hardware of the special-purpose acceleration units, thereby greatly improving the sensing and execution efficiency, eliminating data
jitter and synchronization errors, and realizing deep cooperation of the physical-computing fusion
control algorithm framework in the interaction between computation and
physics, thereby significantly improving the control performance.The parallel initialization, cooperative diagnosis and
safety monitoring mechanism improve the
system reliability and safety, and are suitable for multiple types of somatotype
robot scenes.