文章基本信息

标题：A generic synchronous dataflow architecture to rapidly prototype and deploy robot controllers
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作者：This article is part of the following special collection ; Optimisation ; University of Manchester 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2020
卷号：17
期号：2
页码：1-12
DOI：10.1177/1729881420921625
出版社：SAGE Publications
摘要：The article presents a software architecture to optimize the process of prototyping and deploying robot controllers that are synthesized using model-based design methodologies. The architecture is composed of a framework and a pipeline. Therefore, the contribution of the article is twofold. First, we introduce an open-source actor-oriented framework that s the common robotic uses of middlewares, optimizers, and simulators. Using this framework, we then present a pipeline that implements the model-based design methodology. The components of the proposed framework are generic, and they can be interfaced with any tool supporting model-based design. We demonstrate the effectiveness of the approach describing the application of the resulting synchronous dataflow architecture to the design of a balancing controller for the YARP-based humanoid robot iCub. This example exploits the interfacing with Simulink® and Simulink® Coder™..
关键词：Model;based design ; robot controllers ; rapid prototyping and deployment ; robotic middlewares ; code generation ; actor;oriented programming