A generic synchronous dataflow architecture to rapidly prototype and deploy robot controllers

The article presents a software architecture to optimize the process of prototyping and deploying robot controllers that are synthesized using model-based design methodologies. The architecture is composed of a framework and a pipeline. Therefore, the contribution of the article is twofold. First, w...

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Bibliographic Details
Published in:International journal of advanced robotic systems Vol. 17; no. 2; p. 172988142092162
Main Authors: Ferigo, Diego, Traversaro, Silvio, Romano, Francesco, Pucci, Daniele
Format: Journal Article
Language:English
Published: London, England SAGE Publications 01.03.2020
Sage Publications Ltd
SAGE Publishing
Subjects:
Computer architecture
Computer simulation
Control systems design
Controllers
Humanoid
Prototyping
Robots
Simulators
Source code
actor-oriented programming
code generation
Model-based design
rapid prototyping and deployment
robotic middlewares
robot controllers
ISSN:1729-8806, 1729-8814, 1729-8814
Online Access:Get full text
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Summary:The article presents a software architecture to optimize the process of prototyping and deploying robot controllers that are synthesized using model-based design methodologies. The architecture is composed of a framework and a pipeline. Therefore, the contribution of the article is twofold. First, we introduce an open-source actor-oriented framework that abstracts the common robotic uses of middlewares, optimizers, and simulators. Using this framework, we then present a pipeline that implements the model-based design methodology. The components of the proposed framework are generic, and they can be interfaced with any tool supporting model-based design. We demonstrate the effectiveness of the approach describing the application of the resulting synchronous dataflow architecture to the design of a balancing controller for the YARP-based humanoid robot iCub. This example exploits the interfacing with Simulink® and Simulink® Coder™.
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ISSN:1729-8806
1729-8814
1729-8814
DOI:10.1177/1729881420921625