publication . Article . 2016

The Walk-Man Robot Software Architecture

Mirko Ferrati; Alessandro Settimi; Alessandro Settimi; Luca Muratore; Alberto Cardellino; Alessio Rocchi; Enrico Mingo Hoffman; Corrado Pavan; Dimitrios Kanoulas; Nikos G. Tsagarakis; ...
Open Access English
  • Published: 01 May 2016
  • Country: Italy
Abstract
A software and control architecture for a humanoid robot is a complex and large project, which involves a team of developers/researchers to be coordinated and requires many hard design choices. If such project has to be done in a very limited time, i.e., less than 1 year, more constraints are added and concepts, such as modular design, code reusability, and API definition, need to be used as much as possible. In this work, we describe the software architecture developed for Walk-Man, a robot participant at the Darpa Robotics Challenge. The challenge required the robot to execute many different tasks, such as walking, driving a car, and manipulating objects. Thes...
Subjects
free text keywords: software architecture, humanoid robot, modular design, DRC challenge, teleoperation, robotic middlewares, Mechanical engineering and machinery, TJ1-1570, Electronic computers. Computer science, QA75.5-76.95, Robot, Motion planning, Simulation, Reference architecture, Source code, media_common.quotation_subject, media_common, Robotics, Artificial intelligence, business.industry, business, Robot software, Computer science
Funded by
EC| WALK-MAN
Project
WALK-MAN
Whole-body Adaptive Locomotion and Manipulation
  • Funder: European Commission (EC)
  • Project Code: 611832
  • Funding stream: FP7 | SP1 | ICT
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publication . Article . 2016

The Walk-Man Robot Software Architecture

Mirko Ferrati; Alessandro Settimi; Alessandro Settimi; Luca Muratore; Alberto Cardellino; Alessio Rocchi; Enrico Mingo Hoffman; Corrado Pavan; Dimitrios Kanoulas; Nikos G. Tsagarakis; ...