ロボットコントローラの迅速なプロトタイピングと配備を可能にする汎用同期データフローアーキテクチャ
A Generic Synchronous Dataflow Architecture to Rapidly Prototype and Deploy Robot Controllers
モデルベース設計で生成したロボットコントローラを効率的に試作・配備するための、アクター指向フレームワークとパイプラインからなるソフトウェアアーキテクチャを提案し、iCubヒューマノイドのバランス制御に適用して有効性を示した。
著者: Diego Ferigo, Silvio Traversaro, Francesco Romano, Daniele Pucci
分類: cs.RO
原文アブストラクト
The paper 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 paper 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.
