Open middleware for robotics

Namoshe, Molaletsa; Tlale, N.S.; Kumile, C.M.; Bright, Glen

doi:10.1109/mmvip.2008.4749531

Cited by 8 publications

(6 citation statements)

References 4 publications

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“…Instead, it focuses on toolkit libraries for solving common problems encountered by industrial robots. OROCOS is designed for a single robot, and it is not suitable for multirobot systems where different robots need to cooperate with each other (Namoshe et al, 2008). Based on the GPL license, OROCOS is composed of four C++ libraries: a Kinematics and Dynamics Library (KDL) that solves real-time kinematics and dynamics problems, a Bayesian Filtering Library (BFL) that provides generic filtering functions such as Kalman Filter and Particle Filter, and two supporting libraries that couple robotic components with each other using debugging tools, i.e., Component Library (OCL) and Real-Time Toolkit (RTT).…”

Section: Robot Middlewarementioning

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: Robot Middlewarementioning

confidence: 99%

A Cross-Platform Tactile Capabilities Interface for Humanoid Robots

Dahl

2016

Front. Robot. AI

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“…In this way, the usability, which is a very important issue to be considered in these middleware, is reduced. [17]. In this same work, other middlewares are presented and analyzed, such as UPnP Robot, Player / Stage, ESRP Kernel, MARIE, RSCA, AWARE, Sensory Data Processing and Middleware Layer for Incorporation.…”

Section: Related Workmentioning

confidence: 99%

An adaptive approach for real-time communication of multi-robots based on HLA

Simo

Santos

Brito

2015

2015 Latin American Network Operations and Management Symposium (LANOMS)

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Robot soccer is one example of a real-time multirobot system. The cooperation among them is one of the challenges like to be overcome. Distributed approaches for local state exchanging like Real-time Databases (RTDB) are CPU demanding and complex to write and maintain. Thus, this work presents a new communication approach based on a centralized middleware named High-Level Architecture (HLA), where the robots adapt their transmission rate based on the performance of the other robots. At same time, we investigate the benefits and impacts of using HLA for real-time applications. Experiments demonstrated that all real-time requirements of a robot soccer application were reached using this approach, pointing to a new possibility for real-time communications between robots.

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“…Finally in [17], some freely available middleware frameworks for robotics were addressed, including their technologies within the field of multi-robot systems.…”

Section: Related Workmentioning

confidence: 99%

A Plug and Play Middleware for Sensory Modules, Actuation Platforms and Task Descriptions in Robotic Manipulation Platforms

Elkady

Joy

Sobh

2011

Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts a and B

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We are developing a framework (RISCWare) for the modular design and integration of sensory modules, actuation platforms, and task descriptions that will be implemented as a tool to reduce efforts in designing and utilizing robotic platforms. The framework is used to customize robotic platforms by simply defining the available sensing devices, actuation platforms, and required tasks. The main purpose for designing this framework is to reduce the time and complexity of the development of robotic software and maintenance costs, and to improve code and component reusability. Usage of the proposed framework prevents the need to redesign or rewrite algorithms or applications due to changes in the robot's platform, operating systems, or the introduction of new functionalities.In this paper, the RISCWare framework is developed and described. RISCWare is a robotic middleware used for the integration of heterogeneous robotic components. RISCWare consists of three modules. The first module is the sensory module, which represents sensors that collect information about the remote or local environment. The platform module defines the robotic platforms and actuation methods. The last module is the task-description module, which defines the tasks and applications that the platforms will perform such as teleoperation, navigation, obstacle avoidance, manipulation, 3-D reconstruction, and map building.The plug-and-play approach is one of the key features of RISCWare, which allows auto-detection and auto-reconfiguration of the attached standardized components (hardware and software) according to current system configurations. These components can be dynamically available or unavailable. Dynamic reconfiguration provides the facility to modify a system during its execution and can be used to apply patches and updates, to implement adaptive systems, or to support third-party modules. This automatic detection and reconfiguration of devices and driver software makes it easier and more efficient for end users to add and use new devices and software applications. In addition, the software components should be written in a flexible way to get better usage of the hardware resource and also they should be easy to install/uninstall. Several experiments, performed on the RISCbot II mobile manipulation platform, are described and implemented to evaluate the RISCWare framework with respect to applicability and resource utilization. of devices make it efficient and seamless for the end users to add and use the new devices and software applications. Finally, some experiments, performed on the RISCbot II mobile manipulator, are described to evaluate the RISCWare middleware.

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Open middleware for robotics

Cited by 8 publications

References 4 publications

A Cross-Platform Tactile Capabilities Interface for Humanoid Robots

A Cross-Platform Tactile Capabilities Interface for Humanoid Robots

An adaptive approach for real-time communication of multi-robots based on HLA

A Plug and Play Middleware for Sensory Modules, Actuation Platforms and Task Descriptions in Robotic Manipulation Platforms

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