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

Francesco Rovida, Casper Schou, Rasmus Skovgaard Andersen, Jens Skov Damgaard, Dimitrios Chrysostomou, Simon Bøgh, Mikkel Rath Pedersen, Bjarne Grossmann, Ole Madsen, Volker Krüger

Publikation: Konferencebidrag uden forlag/tidsskriftPaper uden forlag/tidsskriftForskningpeer review

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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.
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


WorkshopIRAS 2014
LokationCentro Congressi Padova
Periode15/07/2014 → …


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