1. Scope of
RobotCub API Levels
AMARSi RCI
AMARSi CCA
Software Architecture
Robot Control API

3. Feature Models
Structural representation of robot control and compliance features

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

6. 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)