10 S. Peiro M. Masmano I. Ripoll A. Crespo 2008 10th Real-Time Linux Workshop Valencia Universidad Politécnica de Valencia 8 30/10/2008 This paper describes the work performed to port PaRTiKle, a hard-real time operating system presented in the RTLWS 2007, to the Philips (NXP) LPC2000 systems, more specically to the LPC2136 model used by the humanoid robot MicroBIRO, which has been developed by the AI2 Robotics Group. The main goal of this work has been to be able to use the PaRTiKle RTOS on the MicroBIRO robot, in order to replace the bare machine programming approach which was previously used for developing robot control applications. This project was divided in two milestones: 1) Porting PaRTiKle to the LPC2000 system. 2) Migrating the existing robot control application to PaRTiKle. This papers discusses all the aspects introduced above explaining the problems encoutered, the solutions given and assests the results obtained. http://www.e-rtl.org/partikle/fileshare/files/5/partikle-lpc.pdf