A flexible software architecture for multi-modal service robots

Abstract

In this paper we propose a novel concept for the programming of multi-modal service robots. The presented software architecture eases the development of high-level applications for service robots. The software architecture is based upon the Roblet-Technology, which is a powerful medium for robots. It introduces the possibility to develop, compile and execute an application on one workstation. Since the Roblet-Technology uses Java the development is independent of the operation system. With the feature of running programs as a distributed software, the framework allows running algorithms which need great computation power on different machines which provide this power. In this way, it greatly improves programming and testing of applications in service robotics. The concept is evaluated in the context of the service robot TASER of the TAMS Institute at the University of Hamburg. This robot consists of a mobile platform with two manipulators equipped with artificial hands. Several multimodal input and output devices for interaction round off the robot.

A software architecture framework for service robots

“…All these architectures have achieved a lot and addressed some of the issues/challenges [22], [23] related to design and development of social or service robots. However, none of these architectures have reached all their objectives [17] and still lack of usability and robustness [16].…”

“…In the last decade, many robotics software architectures, including, YARP [10], Player/Stage [11], CLARAty [12], OROCOS [13], Orca [14], LAAS [15], TASER [16], Service Robot Architecture [17], EICA [18], Samsung Home Robot [19], Social Robot Architecture [20], Architecture for 1 http://www.asoro.a-star.edu.sg/index.html Autonomy [21] etc., have been defined and the development of the service robotics has evolved drastically. In the following some of these architectures are briefly discussed.…”

Towards intelligent autonomous vision systems - smart image processing for robotic applications -

“…There are several sensors and actuators that have to be controlled. Figure 1 shows the current configuration of our Service Robot TASER [2], [3]. To aquire image data, several camera systems are installed, serving different subsystems of the platform:…”