Castano, JA, Kryczka, P, Delhaisse, B et al. (2 more authors) (2018) Ctrl-MORE: A Framework to Integrate Controllers of Multi-DoF Robot for Developers and Users. In: 2018 IEEE International Conference on Robotics and Automation (ICRA). International Conference on Robotics and Automation (ICRA), 21-25 May 2018, Brisbane, QLD, Australia. IEEE , pp. 543-549. ISBN 978-1-5386-3082-2
Abstract
In recent years, many different feedback controllers for robotic applications have been proposed and implemented. However, the high coupling between the different software modules made their integration into one common architecture difficult. Consequently, this has hindered the ability of a user to employ the different controllers into a single, general and modular framework. To address this problem, we present Ctrl-MORE, a software architecture developed to fill the gap between control developers and other users in robotic applications. On one hand, Ctrl-MORE aims to provide developers with an opportunity to integrate easily and share their controllers with other roboticists working in different areas. For example, manipulation, locomotion, vision and so on. On the other hand, it provides to end-users a tool to apply the additional control strategies that guarantee the execution of desired behaviors in a transparent, yet efficient way. The proposed control architecture allows an easier integration of general purpose feedback controllers, such as stabilizers, with higher control layers such as trajectory planners, increasing the robustness of the overall system.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Keywords: | Robots; Documentation; Software; Task analysis; Computer architecture; Hardware; Tools |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 29 Jan 2020 12:00 |
Last Modified: | 30 Jan 2020 10:39 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/icra.2018.8460947 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:156162 |