SkiROS: A four tiered architecture for task-level programming of industrial mobile manipulators
Rovida, Francesco ; Schou, Casper ; Andersen, Rasmus Skovgaard ; Damgaard, Jens Skov ; Chrysostomou, Dimitrios ; Bøgh, Simon ; Pedersen, Mikkel Rath ; Grossmann, Bjarne ; Madsen, Ole and Krüger, Volker LU
(2014)
1st International Workshop on Intelligent Robot Assistants, IRAS 2014
- 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... (More)
- 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. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/da52ab80-3110-4976-8da1-aa798cb869a5
- author
- Rovida, Francesco
; Schou, Casper
; Andersen, Rasmus Skovgaard
; Damgaard, Jens Skov
; Chrysostomou, Dimitrios
; Bøgh, Simon
; Pedersen, Mikkel Rath
; Grossmann, Bjarne
; Madsen, Ole
and Krüger, Volker
LU
- publishing date
- 2014-07-15
- type
- Contribution to conference
- publication status
- published
- subject
- keywords
- Mobile manipulation, Task-level programming, Software architecture
- conference name
- 1st International Workshop on Intelligent Robot Assistants, IRAS 2014
- conference location
- Padua, Italy
- conference dates
- 2014-07-15 - 2014-07-15
- language
- English
- LU publication?
- no
- additional info
- International Workshop on Intelligent Robot Assistants : Part of IRAS 2014, IAS13 ; Conference date: 15-07-2014
- id
- da52ab80-3110-4976-8da1-aa798cb869a5
- date added to LUP
- 2019-05-16 21:15:25
- date last changed
- 2019-05-18 02:18:35
@misc{da52ab80-3110-4976-8da1-aa798cb869a5,
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.}},
author = {{Rovida, Francesco and Schou, Casper and Andersen, Rasmus Skovgaard and Damgaard, Jens Skov and Chrysostomou, Dimitrios and Bøgh, Simon and Pedersen, Mikkel Rath and Grossmann, Bjarne and Madsen, Ole and Krüger, Volker}},
keywords = {{Mobile manipulation, Task-level programming, Software architecture}},
language = {{eng}},
month = {{07}},
title = {{SkiROS: A four tiered architecture for task-level programming of industrial mobile manipulators}},
year = {{2014}},
}