Robot Level 0 APIs data acquisition and motor control Level 1 APIs sensorimotor primitives Level 2 APIs ontogenetic action primitives Level 3 APIs prospective.

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Presentation transcript:

Robot Level 0 APIs data acquisition and motor control Level 1 APIs sensorimotor primitives Level 2 APIs ontogenetic action primitives Level 3 APIs prospective action primitives Robot Level 0 APIs data acquisition and motor control AMARSi CCA CCA RCI fine-grained data-flow architecture “coarse-grained YARP processes”

Feature Models Structural representation of robot control and compliance features

Node Interfaces Mapping of Domain Analysis / Feature Models to Software Interfaces

Body representation Setting nodes in relation via kinematics, dynamics and/or geometry Loose collection of nodes not only enough -Example: Endeffector Control  Setting nodes in relation -Kinematics (Task space ctrl) -Dynamics (Force, compliance) -Geometry (Collision Avoidance)

FlexIRob The Bielefeld Architecture Prototyping System