The shift in the robotics paradigm — The Hardware Robot Operating System (H-ROS); an infrastructure to create interoperable robot components

Mayoral, Víctor; Hernández, Alejandro; Kojcev, Risto; Muguruza, Iñigo; Zamalloa, Irati; Bilbao, Asier; Usategi, Lander

doi:10.1109/ahs.2017.8046383

Cited by 23 publications

(12 citation statements)

References 13 publications

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“…За рубежом ведутся работы, посвященные унифицированным подходам к созданию аппаратно-программного обеспечения роботов, которые позволили бы обеспечить независимость от применяемой элементной базы и упростили конверсию технологий между роботами различных классов [63], однако уже сейчас понятно, что предлагаемые решения окажутся неподходящими для российских реалий. Так, в России в данный момент в военной и космической робототехнике практически обязательным условием является использование исключительно отечественных компонент.…”

Section: выводыunclassified

A review on control systems hardware and software for robots of various scale and purpose. Part 3. Extreme robotics

Romanov

2020

Rossijskij tehnologičeskij žurnal

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A review of robotic systems is carried out. The paper analyzes applied hardware and software solutions and summarizes the most common block diagrams of control systems. The analysis of approaches to control systems scaling, the use of intelligent control, achieving of fault tolerance, reducing the weight and size of control system elements belonging to various classes of robotic systems is carried out. The goal of the review is finding common approaches used in various areas of robotics to build on their basis a uniform methodology for designing scalable intelligent control systems for robots with a given level of fault tolerance on a unified component base. This part is dedicated to extreme robotics and the generalization of the conclusions for the whole review. The paper notes the possibility and necessity of developing common approaches to the creation of robots of various sizes and purposes. It is noted that, in contrast to many foreign countries, in the Russian Federation developers must consider the serious limitations on the electronics components, which do not allow for the free conversion of technologies between civilian, military and space robotics. In this regard, it is proposed to analyze the interchangeable Russian and foreign microelectronic components, to find technical solutions in the field of the control systems and communication between them, which could be implemented both in foreign and Russian microelectronics, and to create on their basis a conceptual model of scalable intelligent control system with a required level of fault tolerance. The model should be based on a unified set of components.

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Section: выводыunclassified

A review on control systems hardware and software for robots of various scale and purpose. Part 3. Extreme robotics

Romanov

2020

Rossijskij tehnologičeskij žurnal

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“…An ambitious project is the Hardware Robot Operating Systen (H-ROS) [17]. The project goal is to develop the universal hardware-software framework for different robot components integration and interoperability for rapid development of mobile and industrial robots.…”

Section: Related Workmentioning

confidence: 99%

A Hierarchical Modular Architecture for Reconfigurable Mobile Robots

Andreev¹,

Kim²,

Pryanichnikov³

2019

DAAAM Proceedings

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In this paper we investigate a common issues associated with growth of computational complexity of mobile robots navigation algorithms. It is also shown that a realization of a particular robot application is usually slowed down because of lack of interchangeable and unified robot components. We propose a hierarchical modular architecture for reconfigurable mobile robots as a solution to these problems. In this architecture a mobile robot considered as a combination of modules, which in turn consist of more simple units -sub-modules. Each submodule incorporates a low performance microcontroller and is responsible for only basic functions. A set of sub-modules are then combined into a moduletransport platform, robot leg, arm etc. Besides of this one of the main goals of the study is to provide a framework based on this architecture for a rapid robot prototyping with modules that can be assembled in a plug-and-play way. In this paper we mostly consider hardware modules and prototypes that have been already manufactured. We also briefly investigate a robot transport module structure for a motion on a rough terrain in an unstructured environment.

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“…Existing libraries and frameworks offered by different researchers in [8], [9], [10] and [11] do not allow dynamic reconfiguration. Of particular interest is the approach implemented in the framework of EmsBoT [12], which proposes the creation of an abstraction layer over the real-time OS.…”

Section: The Use Of Framework and Standard Librariesmentioning

confidence: 99%

Organizing Network Interaction in Modular Robot with Multilevel Control System

Andreev¹,

Pletenev²

2019

DAAAM Proceedings

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The features of network communication in mobile modular robots with multilevel control system (CS) are considered both inside single layer and between multiple layers. Modular architecture enables implementation of rapid reconfiguration of robotic systems. Most of modern systems are built as one pieceall data streams come to a single powerful onboard computer, which implements the major part of control system. Hierarchical division on modules and submodules with their own CS enables lowering computational load on central parts of control systems via distributing calculations between them, abstracting and fusing data. Implementing such multilevel modular control system places restrictions on the possible means of communication between modules and submodules. In this paper, communicational bonds in a modular robot are being considered and parameters of emerging information flows are being analyzed. Based on this, the requirements for the types of networks and their topologies are presented.

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The shift in the robotics paradigm — The Hardware Robot Operating System (H-ROS); an infrastructure to create interoperable robot components

Cited by 23 publications

References 13 publications

A review on control systems hardware and software for robots of various scale and purpose. Part 3. Extreme robotics

A review on control systems hardware and software for robots of various scale and purpose. Part 3. Extreme robotics

A Hierarchical Modular Architecture for Reconfigurable Mobile Robots

Organizing Network Interaction in Modular Robot with Multilevel Control System

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