A middleware for collaborative research in experimental robotics

Wienke, Johannes; Wrede, Sebastian

doi:10.1109/sii.2011.6147617

Cited by 64 publications

(40 citation statements)

References 12 publications

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“…Actuator components that allow manipulation comprise navigation, text to speech and grasping. All components are distributed via an event-based middleware called RSB [17], which has tool support for transparently introspecting and recording the execution of the system at runtime. For the coordination, the BonSAI framework [12] abstracts the different components as software sensors and actuators and allows to model the system behavior as a finite state machine.…”

Section: Robot System and Recording Scenariomentioning

confidence: 99%

A Data Set for Fault Detection Research on Component-Based Robotic Systems

Wienke

Borgsen

Wrede

2016

Towards Autonomous Robotic Systems

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Abstract. Fault detection and identification methods (FDI) are an important aspect for ensuring consistent behavior of technical systems. In robotics FDI promises to improve the autonomy and robustness. Existing FDI research in robotics mostly focused on faults in specific areas, like sensor faults. While there is FDI research also on the overarching software system, common data sets to benchmark such solutions do not exist. In this paper we present a data set for FDI research on robot software systems to bridge this gap. We have recorded an HRI scenario with our RoboCup@Home platform and induced diverse empirically grounded faults using a novel, structured method. The recordings include the complete event-based communication of the system as well as detailed performance counters for all system components and exact ground-truth information on the induced faults. The resulting data set is a challenging benchmark for FDI research in robotics which is publicly available.

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Section: Robot System and Recording Scenariomentioning

confidence: 99%

A Data Set for Fault Detection Research on Component-Based Robotic Systems

Wienke

Borgsen

Wrede

2016

Towards Autonomous Robotic Systems

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“…This leads to independent software components that can be flexibly combined in component circuitry. Communication between components is realized by the Robotics Service Bus (RSB) middleware [19]. RSB is very lightweight, fast, and can be used with a very small footprint of source code, i.e.…”

Section: Software Architecture and Middlewarementioning

confidence: 99%

A multi-level control architecture for the bionic handling assistant

et al. 2015

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The Bionic Handling Assistant is one of the largest soft continuum robots and very special in being a pneumatically operated platform that is able to bend, stretch, and grasp in all directions. It nevertheless shares many challenges with smaller continuum and other softs robots such as parallel actuation, complex movement dynamics, slow pneumatic actuation, non-stationary behavior, and a lack of analytic models. To master the control of this challenging robot, we argue for a tight integration of standard analytic tools, simulation, control, and state of the art machine learning into an overall architecture that can serve as blueprint for control design also beyond the BHA. To this aim, we show how to integrate specific modes of operation and different levels of control in a synergistic manner, which is enabled by using modern paradigms of software architecture and middleware. We thereby achieve an architecture with unique overall control abilities for a soft continuum robot that allow for flexible experimentation towards compliant user-interaction, grasping, and online learning of internal models.

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“…In order to realize the data-flow between CCA components we facilitate the open-source robotics middleware Robotics Service Bus (RSB [14]). RSB is a lightweight, eventbased, and highly customizable robotics middleware with native implementations in C++, Java, Python and Common Lisp.…”

Section: Middleware and Integrationmentioning

confidence: 99%

Software Abstractions for Simulation and Control of a Continuum Robot

Nordmann

Reimann

Wrede

2012

Simulation, Modeling, and Programming for Autonomous Robots

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Abstract. The Bionic Handling Assistant is a new continuum robot which is manufactured in a rapid-prototyping procedure out of elastic polyamide. Its mechanical flexibility and low weight provide an enormous potential for physical human robot interaction. Yet, the elasticity and parallel continuum actuation design challenge standard approaches to deal with a robot from a control, simulation, and software modeling perspective. We investigate how the software abstractions of the existing Robot Control Interface (RCI) and the Compliant Control Architecture (CCA) can deal with this platform from a software modeling and software architectural perspective. We focus on three different challenges: the first challenge is to enable reasonable and hierarchical semantic abstractions of the robot. The second challenge is to develop hardware I/O abstractions for the prototypical and heterogeneous technical setup. The third challenge is to realize this in a flexible and reusable manner. We evaluate our approaches to the above challenges in a practical scenario in which the robot is controlled either in simulation or on the real robot.

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A middleware for collaborative research in experimental robotics

Cited by 64 publications

References 12 publications

A Data Set for Fault Detection Research on Component-Based Robotic Systems

A Data Set for Fault Detection Research on Component-Based Robotic Systems

A multi-level control architecture for the bionic handling assistant

Software Abstractions for Simulation and Control of a Continuum Robot

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