Improving a Robotics Framework with Real-Time and High-Performance Features

Martínez, Jesús; Romero-Garcés, Adrián; Manso, Luis J.; Bustos, Pablo

doi:10.1007/978-3-642-17319-6_26

Cited by 9 publications

(7 citation statements)

References 6 publications

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“…Second, all the software modules are built over RoboComp [ 34 ], an advanced robotic framework focused on the agile design of robust components. This software platform will follow the guidelines provided by the model-driven architecture [ 35 ], allowing the platform to assist robotics engineers in the visual development, verification of real-time and QoS properties, code generation, and deployment of the required software components [ 36 ].…”

Section: Resultsmentioning

confidence: 99%

THERAPIST: Towards an Autonomous Socially Interactive Robot for Motor and Neurorehabilitation Therapies for Children

Calderita¹,

Manso²,

Bustos³

et al. 2014

JMIR Rehabil Assist Technol

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BackgroundNeurorehabilitation therapies exploiting the use-dependent plasticity of our neuromuscular system are devised to help patients who suffer from injuries or diseases of this system. These therapies take advantage of the fact that the motor activity alters the properties of our neurons and muscles, including the pattern of their connectivity, and thus their functionality. Hence, a sensor-motor treatment where patients makes certain movements will help them (re)learn how to move the affected body parts. But these traditional rehabilitation processes are usually repetitive and lengthy, reducing motivation and adherence to the treatment, and thus limiting the benefits for the patients.ObjectiveOur goal was to create innovative neurorehabilitation therapies based on THERAPIST, a socially assistive robot. THERAPIST is an autonomous robot that is able to find and execute plans and adapt them to new situations in real-time. The software architecture of THERAPIST monitors and determines the course of action, learns from previous experiences, and interacts with people using verbal and non-verbal channels. THERAPIST can increase the adherence of the patient to the sessions using serious games. Data are recorded and can be used to tailor patient sessions.MethodsWe hypothesized that pediatric patients would engage better in a therapeutic non-physical interaction with a robot, facilitating the design of new therapies to improve patient motivation. We propose RoboCog, a novel cognitive architecture. This architecture will enhance the effectiveness and time-of-response of complex multi-degree-of-freedom robots designed to collaborate with humans, combining two core elements: a deep and hybrid representation of the current state, own, and observed; and a set of task-dependent planners, working at different levels of abstraction but connected to this central representation through a common interface. Using RoboCog, THERAPIST engages the human partner in an active interactive process. But RoboCog also endows the robot with abilities for high-level planning, monitoring, and learning. Thus, THERAPIST engages the patient through different games or activities, and adapts the session to each individual.ResultsRoboCog successfully integrates a deliberative planner with a set of modules working at situational or sensorimotor levels. This architecture also allows THERAPIST to deliver responses at a human rate. The synchronization of the multiple interaction modalities results from a unique scene representation or model. THERAPIST is now a socially interactive robot that, instead of reproducing the phrases or gestures that the developers decide, maintains a dialogue and autonomously generate gestures or expressions. THERAPIST is able to play simple games with human partners, which requires humans to perform certain movements, and also to capture the human motion, for later analysis by clinic specialists.ConclusionsThe initial hypothesis was validated by our experimental studies showing that interaction with the robot results in highl...

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Section: Resultsmentioning

confidence: 99%

THERAPIST: Towards an Autonomous Socially Interactive Robot for Motor and Neurorehabilitation Therapies for Children

Calderita¹,

Manso²,

Bustos³

et al. 2014

JMIR Rehabil Assist Technol

Self Cite

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“…Table 1 summarizes several approaches regarding either middlewares for developing robotic applications (top rows) and model-based processes (bottom rows). [26] RTC [27] RoboComp [28,29] Orocos [30] ROS [31] Model-based BIP [32] ∼ CPAL [33] Rock [34] [30] ∼ BRIDE [35] [31] G en oM [36] ∼ ∼ [37] ∼ [37] SmartSoft [38,39] ∼ [40] Middlewares provide operating system and hardware abstractions. A middleware typically proposes an Application Programming Interface to develop and deploy tasks and threads without taking into account the operating system and thus the hardware specificities.…”

Section: Software Design In Roboticsmentioning

confidence: 99%

“…A middleware typically proposes an Application Programming Interface to develop and deploy tasks and threads without taking into account the operating system and thus the hardware specificities. While we can find several robotic-oriented middlewares with real-time capabilities [26,27,29,30], only Orocos-RTT [30] uses a behaviour model of components, based on a Finite State-Machine. Moreover, Orocos-RTT is widely used, in particular because of its integration with ROS [31].…”

Section: Software Design In Roboticsmentioning

confidence: 99%

A Design and Analysis Methodology for Component-Based Real-Time Architectures of Autonomous Systems

Gobillot

Lesire

Doose

2018

J Intell Robot Syst

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The integration of autonomous robots in real applications is a challenge. It needs that the behaviour of these robots is proved to be safe. In this paper, we focus on the real-time software embedded on the robot, and that supports the execution of safe and autonomous behaviours. We propose a methodology that goes from the design of component-based software architectures using a Domain Specific Language, to the analysis of the real-time constraints that arise when considering the safety of software applications. This methodology is supported by a code generation toolchain that ensures that the code eventually executed on the robot is consistent with the analysis performed. This methodology is applied on a ground robot exploring an area. Categories (2), (3)

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“…However, if the selection of a specific middleware (or an ad-hoc implementation) has influenced the whole architecture of the distributed system (in this case the RoboComp framework), it could compromise the capabilities of the whole robotic system to adapt it to new requirements, such as realtime or quality-of-service (QoS) properties. From its inception, RoboComp components were strongly coupled with Ice, using not only its communication model (based on remote method invocations or RMI [14]) but also part of its proprietary API in the main structure of each component. Nevertheless, Ice is not suitable for real-time scenarios and different communication models and, therefore, we have designed a mechanism to make RoboComp a middleware-independent robotics framework.…”

Section: Middleware Independencementioning

confidence: 99%

Progress in RoboComp

Giraldo¹,

Romero-Garcés²,

Bustos³

et al. 2013

jopha

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Abstract-During the last six years the RoboComp robotics framework has been steadily growing in the number of software components, the variety of robots supported and in new solutions to the maintenance of large robotics software repositories. In this paper we present recent advances in the formal definition of the RoboComp component model and a new set of tools based on Domain Specific Languages that have been created to simplify the whole development cycle of the components. Moreover, a new robot simulation tool has been created providing perfect integration with RoboComp and better control over experiments than current existing simulators. Finally, the paper describes a working solution to the important problem of communications middleware independence, which allows users to decide which middleware the components will be compiled with. Our solution has been validated by the integration of Nerve, a novel middleware for critical robotics tasks, in RoboComp.

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Improving a Robotics Framework with Real-Time and High-Performance Features

Cited by 9 publications

References 6 publications

THERAPIST: Towards an Autonomous Socially Interactive Robot for Motor and Neurorehabilitation Therapies for Children

THERAPIST: Towards an Autonomous Socially Interactive Robot for Motor and Neurorehabilitation Therapies for Children

A Design and Analysis Methodology for Component-Based Real-Time Architectures of Autonomous Systems

Progress in RoboComp

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