Towards a Unified Representation of Mechanisms for Robotic Control Software

Diaz-Calderon, Antonio; Nesnas, Issa; Nayar, Hari; Kim, Won S.

doi:10.5772/5757

Cited by 10 publications

(4 citation statements)

References 8 publications

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“…These interfaces are presented in detail in §3.1 and §3.2, respectively. Our architecture also provides platform-specific information and calculations through modules, such as forward kinematics (FK) and inverse kinematics (IK), and technologies that have been extensively discussed by Diaz-Calderon et al (2006). The run-time availability of platformspecific data, such as the kinematics, would allow the integration of our abstract interface and generic libraries such as OROCOS.…”

Section: The Cross-platform Tactile Capabilities Interfacementioning

confidence: 99%

A Cross-Platform Tactile Capabilities Interface for Humanoid Robots

Dahl

2016

Front. Robot. AI

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This article presents the core elements of a cross-platform tactile capabilities interface (TCI) for humanoid arms. The aim of the interface is to reduce the cost of developing humanoid robot capabilities by supporting reuse through cross-platform deployment. The article presents a comparative analysis of existing robot middleware frameworks as well as the technical details of the TCI framework that builds on the existing YARP platform. Currently, the TCI framework includes robot arm actuators with robot skin sensors. It presents such hardware in a platform-independent manner, making it possible to write robot control software that can be executed on different robots through the TCI frameworks. The TCI framework supports multiple humanoid platforms, and this article also presents a case study of a cross-platform implementation of a set of tactile protective withdrawal reflexes that have been realized on both the NAO and iCub humanoid robot platforms using the same high-level source code.

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Section: The Cross-platform Tactile Capabilities Interfacementioning

confidence: 99%

A Cross-Platform Tactile Capabilities Interface for Humanoid Robots

Dahl

2016

Front. Robot. AI

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“…It defines and implements the Mechanism Model framework [10] for modeling mechanisms for robotic control.…”

Section: B the Claraty Unified Mechanism Modelmentioning

confidence: 99%

Software abstractions for modeling robot mechanisms

Brugali

2007

2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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In order to make robot software applications reusable across different robotic platform, there is the need to make software dependencies to the mechanical structure explicit. This means to define a common mechanism model that is used by every functional module to refer to the specific characteristics of the robot hardware. The aim of this paper is to illustrate the ANYMORPHOLOGY Design Pattern, which describes a set of software abstractions used to model robotic mechanisms.Index Terms-Mechanism model, Robotics, Software development and reuse.

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“…Unlike some prior kinematic simulators [3,10,29,43], to support interactive construction of virtual articulations we must support both on-line structure changes (adding, removing, reconnecting joints) and closed kinematic chains (cycles in the linkage graph). Figure 4 shows the architecture of our prototype implementation, which we have made freely available in source and executable form [38].…”

Section: System Architecturementioning

confidence: 99%

Operating High-DoF Articulated Robots Using Virtual Links and Joints

Vona

2012

Intelligent Systems Reference Library

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Summary. This chapter presents the theory, implementation, and application of a novel operations system for articulated robots with large numbers (10s to 100s) of degrees-of-freedom (DoF), based on virtual articulations and kinematic abstractions. Such robots are attractive in some applications, including space exploration, due to their application flexibility. But operating them can be challenging: they are capable of many different kinds of motion, but often this requires coordination of many joints. Prior methods exist for specifying motions at both low and high-levels of detail; the new methods fill a gap in the middle by allowing the operator to be as detailed as desired. The presentation is fully general and can be directly applied across a broad class of 3D articulated robots.

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Towards a Unified Representation of Mechanisms for Robotic Control Software

Cited by 10 publications

References 8 publications

A Cross-Platform Tactile Capabilities Interface for Humanoid Robots

A Cross-Platform Tactile Capabilities Interface for Humanoid Robots

Software abstractions for modeling robot mechanisms

Operating High-DoF Articulated Robots Using Virtual Links and Joints

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