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Communication Dans Un Congrès Année : 2017

XBotCore: A Real-Time Cross-Robot Software Platform

Résumé

In this work we introduce XBotCore (Cross-Bot-Core), a lightweight , Real-Time (RT) software platform for EtherCAT-based robots. XBotCore is open-source and is designed to be both an RT robot control framework and a software middleware. It satisfies hard RT requirements, while ensuring 1 kHz control loop even in complex Multi-Degree-Of-Freedom systems. It provides a simple and easy-to-use middleware Application Programming Interface (API), for both RT and non-RT control frameworks. This API is completely flexible with respect to the framework a user wants to utilize. Moreover it is possible to reuse the code written using XBotCore API with different robots (cross-robot feature). In this paper, the XBotCore design and architecture will be described and experimental results on the humanoid robot WALK-MAN [17], developed at the Istituto Italiano di Tecnologia (IIT), will be presented.
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Dates et versions

hal-04307583 , version 1 (26-11-2023)

Identifiants

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Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Alessio Rocchi, Darwin Caldwell, et al.. XBotCore: A Real-Time Cross-Robot Software Platform. 2017 First IEEE International Conference on Robotic Computing (IRC), Apr 2017, Taichung, Taiwan. pp.77-80, ⟨10.1109/IRC.2017.45⟩. ⟨hal-04307583⟩
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