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

Research output: Contribution to conference without publisher/journal › Paper without publisher/journal › Research › peer-review

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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.

Original language	English
Publication date	15 Jul 2014
Number of pages	4
Publication status	Published - 15 Jul 2014
Event	International Workshop on Intelligent Robot Assistants: Part of IRAS 2014 - Centro Congressi Padova, Padova, Italy Duration: 15 Jul 2014 → … Conference number: 1 http://iras2014.aau.dk/program/

Workshop

Workshop	International Workshop on Intelligent Robot Assistants
Number	1
Location	Centro Congressi Padova
Country/Territory	Italy
City	Padova
Period	15/07/2014 → …
Internet address	http://iras2014.aau.dk/program/

Keywords

Mobile manipulation
Task-level programming
Software architecture

Access to Document

IAS13-Rovida-SkiROSFinal published version, 231 KB

AUB Link

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1 Organisation or participation in workshops, courses, seminars, exhibitions or similar

International Workshop on ROS-Industrial in European Research Projects
Dimitris Chrysostomou (Participant)
15 Jul 2014
Activity: Attending an event › Organisation or participation in workshops, courses, seminars, exhibitions or similar

Cite this

@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 et al.
2014. Paper presented at International Workshop on Intelligent Robot Assistants, Padova, Italy.

Research output: Contribution to conference without publisher/journal › Paper without publisher/journal › Research › 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 -

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

Abstract

Workshop

Keywords

Access to Document

AUB Link

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Activities

International Workshop on ROS-Industrial in European Research Projects

Cite this