SkiROS: A four tiered architecture for task-level programming of industrial mobile manipulators

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Resumé

During the last decades, the methods for intuitive task level programming of robots have become a fundamental point of interest for industrial application. The paper in hand presents SkiROS (Skill-based Robot Operating System) a novel software architecture based on the skills paradigm. The skill paradigm has already been used and tested within the FP7 project TAPAS, and we are going to use it in several new FP7 projects (CARLOS, STAMINA, ACAT). It facilitates task-level programming of mobile manipulators by providing the robot with a set of movement primitives, skills and tasks. This hierarchy brings many advantages, where the most relevant is the separation of control in the layers of hardware abstraction(proxy), multi-sensory control(primitive), object-level abstraction (skill) and planning (task). The definition and the clear division in different abstraction levels allows the implementation of a flexible, highly modular system for the development of cognitive robot tasks.
OriginalsprogEngelsk
Publikationsdato15 jul. 2014
Antal sider4
StatusUdgivet - 15 jul. 2014
BegivenhedIRAS 2014: 1st International Workshop on Intelligent Robot Assistants - Centro Congressi Padova, Padova, Italien
Varighed: 15 jul. 2014 → …
Konferencens nummer: 1
http://iras2014.aau.dk/program/

Workshop

WorkshopIRAS 2014
Nummer1
LokationCentro Congressi Padova
LandItalien
ByPadova
Periode15/07/2014 → …
Internetadresse

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Manipulators
Robots
Computer operating systems
Software architecture
End effectors
Industrial applications
Hardware
Planning

Citer dette

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title = "SkiROS: A four tiered architecture for task-level programming of industrial mobile manipulators",
abstract = "During the last decades, the methods for intuitive task level programming of robots have become a fundamental point of interest for industrial application. The paper in hand presents SkiROS (Skill-based Robot Operating System) a novel software architecture based on the skills paradigm. The skill paradigm has already been used and tested within the FP7 project TAPAS, and we are going to use it in several new FP7 projects (CARLOS, STAMINA, ACAT). It facilitates task-level programming of mobile manipulators by providing the robot with a set of movement primitives, skills and tasks. This hierarchy brings many advantages, where the most relevant is the separation of control in the layers of hardware abstraction(proxy), multi-sensory control(primitive), object-level abstraction (skill) and planning (task). The definition and the clear division in different abstraction levels allows the implementation of a flexible, highly modular system for the development of cognitive robot tasks.",
keywords = "Mobile manipulation, Task-level programming, Software architecture",
author = "Francesco Rovida and Casper Schou and Andersen, {Rasmus Skovgaard} and Damgaard, {Jens Skov} and Dimitrios Chrysostomou and Simon B{\o}gh and Pedersen, {Mikkel Rath} and Bjarne Grossmann and Ole Madsen and Volker Kr{\"u}ger",
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month = "7",
day = "15",
language = "English",
note = "International Workshop on Intelligent Robot Assistants : Part of IRAS 2014, IAS13 ; Conference date: 15-07-2014",
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T2 - A four tiered architecture for task-level programming of industrial mobile manipulators

AU - Rovida, Francesco

AU - Schou, Casper

AU - Andersen, Rasmus Skovgaard

AU - Damgaard, Jens Skov

AU - Chrysostomou, Dimitrios

AU - Bøgh, Simon

AU - Pedersen, Mikkel Rath

AU - Grossmann, Bjarne

AU - Madsen, Ole

AU - Krüger, Volker

PY - 2014/7/15

Y1 - 2014/7/15

N2 - During the last decades, the methods for intuitive task level programming of robots have become a fundamental point of interest for industrial application. The paper in hand presents SkiROS (Skill-based Robot Operating System) a novel software architecture based on the skills paradigm. The skill paradigm has already been used and tested within the FP7 project TAPAS, and we are going to use it in several new FP7 projects (CARLOS, STAMINA, ACAT). It facilitates task-level programming of mobile manipulators by providing the robot with a set of movement primitives, skills and tasks. This hierarchy brings many advantages, where the most relevant is the separation of control in the layers of hardware abstraction(proxy), multi-sensory control(primitive), object-level abstraction (skill) and planning (task). The definition and the clear division in different abstraction levels allows the implementation of a flexible, highly modular system for the development of cognitive robot tasks.

AB - During the last decades, the methods for intuitive task level programming of robots have become a fundamental point of interest for industrial application. The paper in hand presents SkiROS (Skill-based Robot Operating System) a novel software architecture based on the skills paradigm. The skill paradigm has already been used and tested within the FP7 project TAPAS, and we are going to use it in several new FP7 projects (CARLOS, STAMINA, ACAT). It facilitates task-level programming of mobile manipulators by providing the robot with a set of movement primitives, skills and tasks. This hierarchy brings many advantages, where the most relevant is the separation of control in the layers of hardware abstraction(proxy), multi-sensory control(primitive), object-level abstraction (skill) and planning (task). The definition and the clear division in different abstraction levels allows the implementation of a flexible, highly modular system for the development of cognitive robot tasks.

KW - Mobile manipulation

KW - Task-level programming

KW - Software architecture

M3 - Paper without publisher/journal

ER -