A Generic Synchronous Dataflow Architecture to Rapidly Prototype and Deploy Robot Controllers
Abstract
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.
- Publication:
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arXiv e-prints
- Pub Date:
- June 2019
- DOI:
- 10.48550/arXiv.1906.02286
- arXiv:
- arXiv:1906.02286
- Bibcode:
- 2019arXiv190602286F
- Keywords:
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- Computer Science - Robotics
- E-Print:
- Will appear in IJARS