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

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/tidsskrift › Paper uden forlag/tidsskrift › Forskning › peer review

966 Downloads (Pure)

Abstrakt

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.

Originalsprog	Engelsk
Publikationsdato	15 jul. 2014
Antal sider	4
Status	Udgivet - 15 jul. 2014
Begivenhed	IRAS 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

Workshop	IRAS 2014
Nummer	1
Lokation	Centro Congressi Padova
Land	Italien
By	Padova
Periode	15/07/2014 → …
Internetadresse	http://iras2014.aau.dk/program/

Adgang til dokumentet

IAS13-Rovida-SkiROSForlagets udgivne version, 231 KB

Fingeraftryk Dyk ned i forskningsemnerne om 'SkiROS: A four tiered architecture for task-level programming of industrial mobile manipulators'. Sammen danner de et unikt fingeraftryk.

Aktiviteter

1 Organisering af eller deltagelse i workshop, kursus, seminar eller lignende

International Workshop on ROS-Industrial in European Research Projects

Dimitris Chrysostomou (Deltager)

15 jul. 2014

Aktivitet: Deltagelse i faglig begivenhed › Organisering af eller deltagelse i workshop, kursus, seminar eller lignende

Citationsformater

Rovida, F., Schou, C., Andersen, R. S., Damgaard, J. S., Chrysostomou, D., Bøgh, S., Pedersen, M. R., Grossmann, B., Madsen, O., & Krüger, V. (2014). SkiROS: A four tiered architecture for task-level programming of industrial mobile manipulators. Afhandling præsenteret på IRAS 2014, Padova, Italien.

@conference{4f1b87bc4a0649cd8fc202a5f88b9c7b,

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",

year = "2014",

month = jul,

day = "15",

language = "English",

note = "International Workshop on Intelligent Robot Assistants : Part of IRAS 2014, IAS13 ; Conference date: 15-07-2014",

url = "http://iras2014.aau.dk/program/",

}

SkiROS : A four tiered architecture for task-level programming of industrial mobile manipulators. / Rovida, Francesco ; Schou, Casper; Andersen, Rasmus Skovgaard; Damgaard, Jens Skov; Chrysostomou, Dimitrios ; Bøgh, Simon; Pedersen, Mikkel Rath; Grossmann, Bjarne ; Madsen, Ole ; Krüger, Volker.

2014. Afhandling præsenteret på IRAS 2014, Padova, Italien.

Publikation: Konferencebidrag uden forlag/tidsskrift › Paper uden forlag/tidsskrift › Forskning › peer review

TY - CONF

T1 - SkiROS

T2 - International Workshop on Intelligent Robot Assistants

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

N1 - Conference code: 1

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

Y2 - 15 July 2014

ER -