TORP: An open standard framework for humanoid robots

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dc.contributor.authorColombini, Esther L.
dc.contributor.authorSimões, Alexandre da Silva [UNESP]
dc.contributor.authorMatsuura, Jackson P.
dc.contributor.authorFranchin, Marcelo N. [UNESP]
dc.contributor.institutionInstituto Tecnológico de Aeronáutica (ITA)
dc.contributor.institutionUniversidade Estadual Paulista (Unesp)
dc.date.accessioned2014-05-27T11:25:20Z
dc.date.available2014-05-27T11:25:20Z
dc.date.issued2010-12-01
dc.description.abstractHumanoid robots are an extremely complex interdisciplinary research field. Particularly, the development of high size humanoid robots usually requires joint efforts and skills from groups that are in many different research centers around the world. However, there are serious constraints in this kind of collaborative development. Some efforts have been made in order to propose new software frameworks that can allow distributed development with also some degree of hardware abstraction, allowing software reuse in successive projects. However, computation represents only one of the dimensions in robotics tasks, and the need for reuse and exchange of full robot modules between groups are growing. Large advances could be reached if physical parts of a robot could be reused in a different robot constructed with other technologies by other researcher or group. This paper proposes a new robot framework, from now on called TORP (The Open Robot Project), that aims to provide a standard architecture in all dimensions (electrical, mechanical and computational) for this collaborative development. This methodology also represents an open project that is fully shared. In this paper, the first robot constructed following the TORP specification set is presented as well as the advances proposed for its improvement. © 2010 IEEE.en
dc.description.affiliationTechnological Institute of Aeronautics
dc.description.affiliationUniversidade Estadual Paulista Julio de Mesquita Filho (UNESP)
dc.description.affiliationUnespUniversidade Estadual Paulista Julio de Mesquita Filho (UNESP)
dc.format.extent49-54
dc.identifierhttp://dx.doi.org/10.1109/LARS.2010.29
dc.identifier.citationProceedings - 2010 Latin American Robotics Symposium and Intelligent Robotics Meeting, LARS 2010, p. 49-54.
dc.identifier.doi10.1109/LARS.2010.29
dc.identifier.scopus2-s2.0-79952098253
dc.identifier.urihttp://hdl.handle.net/11449/72055
dc.language.isoeng
dc.relation.ispartofProceedings - 2010 Latin American Robotics Symposium and Intelligent Robotics Meeting, LARS 2010
dc.rights.accessRightsAcesso aberto
dc.sourceScopus
dc.subjectCollaborative development
dc.subjectDistributed development
dc.subjectHumanoid robot
dc.subjectInterdisciplinary research
dc.subjectOpen Standards
dc.subjectResearch center
dc.subjectSoftware frameworks
dc.subjectSoftware Re-use
dc.subjectStandard architecture
dc.subjectAnthropomorphic robots
dc.subjectComputer software reusability
dc.subjectResearch
dc.subjectRobotics
dc.subjectStandardization
dc.titleTORP: An open standard framework for humanoid robotsen
dc.typeTrabalho apresentado em evento
dcterms.licensehttp://www.ieee.org/publications_standards/publications/rights/rights_policies.html
unesp.author.lattes1368002066043197[2]
unesp.author.orcid0000-0002-1457-6305[2]
unesp.campusUniversidade Estadual Paulista (Unesp), Faculdade de Engenharia, Baurupt

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