Ikaros: A framework for controlling robots with system-level brain models. (12th June 2020)

• Record Type: Journal Article
• Authors: Balkenius, Christian; Johansson, Birger; Tjøstheim, Trond A
• Is Part Of: International journal of advanced robotic systems. Volume 17:Number 3(2020:May/Jun.)
• Publication Date: 2020-06-12
• Subjects: Robotics middleware -- system-level brain modeling -- robot control; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881420925002
• Languages: English
• ISSNs: 1729-8806

Abstract

Ikaros is an open framework for system-level brain modeling and real-time robot control. Version 2 of the system includes a range of computational components that implements various algorithms and methods ranging from models of neural circuits to control systems and hardware interfaces for robot. Ikaros supports the design and implementation of large-scale computation models using a flow programming paradigm. Version 2 includes a number of new features that support complex networks of hierarchically arranged components as well as a web-based interactive editor. More than 100 persons have contributed to the code base and over 100 scientific publications report on work that has used Ikaros for simulations or robot control.