Transportable open-source application program interface and user interface for generic humanoids: TOUGH. (5th May 2020)
- Record Type:
- Journal Article
- Title:
- Transportable open-source application program interface and user interface for generic humanoids: TOUGH. (5th May 2020)
- Main Title:
- Transportable open-source application program interface and user interface for generic humanoids: TOUGH
- Authors:
- Jagtap, Vinayak
Agarwal, Shlok
Wagh, Ameya
Gennert, Michael - Abstract:
- Humanoid robotics is a complex and highly diverse field. Humanoid robots may have dozens of sensors and actuators that together realize complicated behaviors. Adding to the complexity is that each type of humanoid has unique application program interfaces, thus software written for one humanoid does not easily transport to others. This article introduces the transportable open-source application program interface and user interface for generic humanoids, a set of application program interfaces that simplifies the programming and operation of diverse humanoid robots. These application program interfaces allow for quick implementation of complex tasks and high-level controllers. Transportable open-source application program interface and user interface for generic humanoids has been developed for, and tested on, Boston Dynamics' Atlas V5 and NASA's Valkyrie R5 robots. It has proved successful for experiments on both robots in simulation and hardware, demonstrating the seamless integration of manipulation, perception, and task planning. To encourage the rapid adoption of transportable open-source application program interface and user interface for generic humanoids for education and research, the software is available as Docker images, which enable quick setup of multiuser simulation environments.
- Is Part Of:
- International journal of advanced robotic systems. Volume 17:Number 3(2020:May/Jun.)
- Journal:
- International journal of advanced robotic systems
- Issue:
- Volume 17:Number 3(2020:May/Jun.)
- Issue Display:
- Volume 17, Issue 3 (2020)
- Year:
- 2020
- Volume:
- 17
- Issue:
- 3
- Issue Sort Value:
- 2020-0017-0003-0000
- Page Start:
- Page End:
- Publication Date:
- 2020-05-05
- Subjects:
- Humanoid robots -- ROS -- open-source projects and applications for robotics
Robotics -- Periodicals
Robotics
Periodicals
629.892 - Journal URLs:
- http://arx.sagepub.com/ ↗
http://search.epnet.com/direct.asp?db=bch&jid=13CR&scope=site ↗
http://www.intechweb.org/journal.php?id=3 ↗
http://www.uk.sagepub.com/home.nav ↗ - DOI:
- 10.1177/1729881420921607 ↗
- Languages:
- English
- ISSNs:
- 1729-8806
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library DSC - BLDSS-3PM
British Library HMNTS - ELD Digital store - Ingest File:
- 13859.xml