IROS 2018
Monday, 1st October 2018
Full-Day Tutorial
Mo-TUT-1
Monday, 1st October 2018
Full-Day Tutorial
Mo-TUT-1
XBotCore
The tutorial has the goal to demonstrate the main tools and capabilities of the XBotCore Real-Time (RT) software framework, released in 2016 as an open-source project at https://github.com/ADVRHumanoids and successfully deployed in three European founded project: WALK-MAN (FP7-ICT-2013-10 - https://www.walk-man.eu/), CogIMon (H2020 - https://cogimon.eu/) and CENTAURO (H2020 - https://www.centauro-project.eu/).
XBotCore is considered a cross-robot and cross-framework software architecture: it is possible to reuse its components among different robotic platforms without any code changes, and to seamlessly integrate it with state-of-the-art, widely spread control frameworks like ROS , YARP and OROCOS . It also offers a built-in model plugin for the Gazebo simulator in order to go seemly from the simulation implementation to the real robot experiment without code modification.
XBotCore is considered a cross-robot and cross-framework software architecture: it is possible to reuse its components among different robotic platforms without any code changes, and to seamlessly integrate it with state-of-the-art, widely spread control frameworks like ROS , YARP and OROCOS . It also offers a built-in model plugin for the Gazebo simulator in order to go seemly from the simulation implementation to the real robot experiment without code modification.
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WHAT WILL YOU LEARN?
HOW THE TUTORIAL IS GOING TO BE ORGANIZED? Tutorial FormatThe first part of this tutorial will introduce to the interested researchers and engineers the XBotCore software architecture and its main components. This will start from the Robotic Hardware Abstraction Layer (R-HAL), which allows the users to exploit the XBotCore in their robots or simulation environments, passing through the concepts of the Plugin Handler running inside a XENOMAI RT thread, and the Communication Handler useful for the communication with the external non-RT frameworks, and eventually describe the XBotInterface, an high-level API used inside the framework for the purposes of robot control at the joint level and kinematic/dynamic modeling. Moreover a set of successful use cases of the software architecture leveraging the OpenSoT hierarchical whole-body control framework for robotics, will be described in details.
In the second part of the tutorial, the organizers will set up a hands-on session for the audience on the XBotCore simulation tools provided by the framework and the two robotic platforms that will be available for the attendees: the CENTAURO robot developed at IIT and a KUKA LWR arm system, both showed on the right. |
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Tutorial Schedule
Tutorial Speakers
Department of Humanoid and Human Centered Mechatronics - Istituto Italiano di Tecnologia, Via Morego 30 16163, Genova, Italy
Luca Muratore Main Organizer,
iit.it/it/people/luca-muratore Nikos Tsagarakis Principal Investigator,
iit.it/it/people/nikos-tsagarakis |
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