A Kind of Architecture and Key Technologies for Developing Modular Robot

摘要：

Modular robot technology is of great significance for developing service robots and promoting its industrialization. This paper presents a kind of modular robot architecture which is composed of the Robot Operating System (ROS), standard bus and modular functional components with standard interfaces. The robot has advantages of openness, compatibility, separated function of hardware and software. With this robot, the paper presents the challenges for developing modular robots and explores the uniform software platform for developing modular robots with ROS and integration technology. With this development, this paper presents a way for integrating the functional components of software and hardware into various robots.

关键词： Modular robot Architecture ROS Functional component Integrated development environment

作者: Hongxing Wei Jingtao Lei Tianmiao Wang

作者单位: School of Mechanical Engineering and Automation,Beihang University, Beijing, China School of Mechanical Engineering and Automation,Shanghai University, Shanghai, Peoples Republic of

会议类型: 国际会议

会议名称: The Second ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robote 第二届ASME/IFTOMM可重构机构与可重构机器人国际大会 ReMAR 2012

会议地点: 天津

会议语种:英文

页码: 561-568

在线出版日期: 2012-07-08（万方平台首次上网日期，不代表论文的发表时间）