机械人开发软件

1、机械人开发软件A review o robotics software platformsIntroductionThis article gives a short overviewgvncral-purposc robotics software platforms currently available for sendee robodcs applications. The article is a compilation of the knowledge the author accumulated during recent experimentation work ?What i

2、s a robotics software platform?By a Hrobotics s Mtowrs| l BchAtor RaL 扌 fif 回蔣HCameramiwdMedian Condtewy-iMiiWplkdilQn0 X 堅 BimdQe DiJtpUylindiedi |lUv*CUlRecRnraanlzeahjrocrotQQnLz.*SubiEaKChnsukneateConslMiiMg 丿* 0Inmi Callcc.1? rtalltiorDrtw Mwni (Irrw-WsreniPfinrityEjPgpwtyhwd 訂画valueid Objrtmtm

3、wciniCQdiXLr ( ?r ? l lEriit trwdtelBehavior Composer of Evolution Robotics(Click to enlarge)The building blocks called behaviors are activated/deactivated in run time by a higher-level program called a task . ERSP doesrVt provide a simulation environment. ERSP runs on Windows and Linux ?Microsoft R

4、obotics StudioMicrosoft recently setup a team that delivered a robotics software platform called ?The platform runs under Windows and Windows CE. A distributed runtimeenvironment does most of the messaging and thread management tasks. Behaviorcoordination is based on the concept of service arbiters.

5、MSRS comes with a simulation environment and a graphical service developmenttoolkit.Microsoft Robotics Studio - Visual Programming Language(Click to enlarge)Microsoft Simulation environment(Click to enlarge)A growing number of robotics companies have for the MSRS platform.OROCOSis an open source set

6、 of libraries for advaneed motion and robot control. OROCOS comes with its own runtime environment optimized for real-time applications. The environment makes use of, which makes it suitable for time-deterministic real-time applications.RealTimeToolkitComponentsforControlKinematicsDynamicsLibraryBay

7、esianFiitiringLibraryOROCOSOROCOS comes with a set of reusable components and a set of drivers for selectedrobotics hardware ? A kinematics and dynamics library is an application independent framework for modeling and computation of kinematics chai ns, such as robots, biomechanical human models, com

8、puter-animated figures, machine tools.OROCOS doesrft come with a unified graphical development environment orsimulation environment.SkilligentConceptually, stands aside in the list of robotics software platforms. Instead ofsimplifying robot programming, Skilligent eliminates the need to program robo

9、ts byintroduci ng an impleme ntation of a train able control system.Skilligents is based on the concept of, a new approach in artificial intelligence androbotics that focuses on the autonomous robot learning of gen eral-purpose, tasknon specific control systems ?Skilligent allows converting a regula

10、r robot into a sociable robot that can be trained by an end user (vs ? programmed by a software engineer) ? The robot control software exhibits certain support!ng social interaction capabilities that， 5?l5,lmake training and collaboration with robots more natural for humans. During asession, such a

11、robot in ter acts with its human train er through gestures, sounds,object manipulations and joint attention.Robot learning session “under control of SkilligentSkilligential interac tiori point intention Behav9or conlroComputer vtsuon Aucfio Skill teamingjAPI.RS232.Firewire.USB CANRobotic platbonCont

12、rcH system 1 Sen sons ActuatorsOn-ooardiSocnai interacdon. gesturesinterac ben thromgh objectmanipulationSkilligent Behavior Control systemThe key tech no logy in corporated in the software is a set of algorithms that buildgen eralized represe ntation of a task/skill lear nt from a demonstrati on. T

13、hesoftware comes with built-in object recognition, sound recognition and visualnavigation modules optimized for robotic learning.Strictly speaking, Skilligent is not a platform, but rather an add-on to a roboticsplatform as it can be integrated with any of the platforms presented in thisarticle.URBI

14、URBI is a robotics platform built by .In stead of creati ng a graphical service creationenvironment, URBI introduced its own language optimized for creation of parallel and distributed event ? driven services.For every new kind of robot, Gostai promises to build an engine that executes theprograms w

15、ritten in the proprietary Ianguage ? Gostai provides engines for a varietyof robots including Aibo, Mindstorms and Khepera.URBI is a distributed platform that allows running a service code across several computers working together in a cluster. Gostais partners provide such as computer vision and sp

16、eech recog nition.The platform does nt have its own simulati on environment, but it has bee n recently integrated with Webots, a popular commercial robotics simulation env ironme nt.WebotsWebots is a popular commercial robot fast prototyping and simulation environment marketed by ? Strictly speaking

17、 ， Webots is not a robotics software platform, but rather a simulation engine with prototyping capabilities.The simulation environment comes with models of multiple virtual and commercially available robots including bipeds, wheeled robots and robotic arms.Webots fast prototyping and simulation envi

18、ronment(Click to enlarge)Player, Stage, GazeboThe is an open source TCP/IP-based hardware abstraction layer for a growing number of robotics hardware platforms ? The and provide accompanying simulation environments. The environments support multi-robot simulations that are suitable for research in s

19、warm- or team-working of robots.CoitndsH| CckLMS ： J0 ； Iductalcofltrdfc5tJ”7 _ |I L4? 却14 】 ?80 ? nr in FOO fnnPlayer, Stage, Gazebo(Click to enlarge)Running on a robot, Player provides a simple interface to the robots sensors andactuators over the IP network for reading data from sensors, writingc

20、ommands to actuators, and configuring devices on the fly.Other platformsThere are several other robotics software platforms available on the market - such as ,. The author hasrTt had a chanee to study those platforms closer. Here is some information:? iRobot AWARE is a robotics software platform ann

21、ounced by ? It isassumed that the platform is built for a range of military robots produced by the company for the US military. to Rodney Brooks, the company utilized some of the available open source code to speed up development of their own product. From the information available, we couldrft deri

22、ve whether or not AWARE uses Rodney Brooks* for behavior coordination and control.? OpenJAUS is an open source implementation of Joint Architecture forUnmanned Systems (). Vecna company to be promoting OpenJAUS and using it on their BEAR robot.? CLARAty is a software platform built by NASA and then

23、released as an opensource project ? It is not totally though. The software seems to provide a set of such as visual heading and pose estimations, and visual wheel sinking estimation ?Market trendsThe sweetest dream of any robotics platform company is to see their product being pre-installed on a mas

24、s-produced commercial robot (just like Windows is pre-installed on new PCs). This is still yet to happen. In the meantime, educati on and research in stituti ons are the major customers of the ven dors of robotics platforms.The introduction of Microsoft Robotics Studio put pressure on several compan

25、ies offering robotics software platforms. What Microsoft can afford to give away for free,other companies (like Evolution, Gostai and Cyberbotics) are trying to sell ? This willprobably spoil the education/research market in longer term.The research/education/hobby market seems to be quite limited a

26、nd nearly saturated. The growth could come from the industrial automation or service robotics market if thecompanies can find inroads into those markets ?On the industrial robotics side, most established manu facturers of in dustrial robots provide their own platforms for programmi ng their robots .

27、look at ). They wouldprobably prefer selling their own products other than using third-party products ? Tocounter this tendency, has recently staged an orchestrated campaign to create a setof standards that would break such ven dor lock-i n. The efforts are in the very early phase, but we hope they

28、will produce working standards in medium-to-long term. Asimilar but independent development is going on in Europe - look at web site ?On the service robotics side, we will probably see emerge nee of comm on robotics software platforms especially for military robots where compatibility of inter-syste

29、ms in terfaces is of special imports nee (look at the ). In the US, the largest share of robotics research is driven by military requirements. So, well probably see emergenee of stan dards for remote operati on, swarm-coordi nation and navigati on comp onents. In con tract, most of the European rese

30、arch efforts are orchestrated around the goal of building a new kind of industrial robot or a service robot for home and office applications (,).An interesting evolution of the concept of a robotics platform was recently presentedby ? They built a software product that allows a robot to develop needed skills autonomously while interacting with humans. Theoretically, this largely makes most traditional service creation environm