International Journal of Advanced Robotic Systems | |
YARP: Yet Another Robot Platform | |
关键词: software platform; interprocess communication; humanoid robotics; | |
DOI : 10.5772/5761 | |
学科分类:自动化工程 | |
来源: InTech | |
【 摘 要 】
We describe YARP, Yet Another Robot Platform, an open-source project that encapsulates lessons from our experience in building humanoid robots. The goal of YARP is to minimize the effort devoted to infrastructure-level software development by facilitating code reuse, modularity and so maximize research-level development and collaboration. Humanoid robotics is a “bleeding edge” field of research, with constant flux in sensors, actuators, and processors. Code reuse and maintenance is therefore a significant challenge. We describe the main problems we faced and the solutions we adopted. In short, the main features of YARP include support for inter-process communication, image processing as well as a class hierarchy to ease code reuse across different hardware platforms. YARP is currently used and tested on Windows, Linux and QNX6 which are common operating systems used in robotics.
【 授权许可】
CC BY
【 预 览 】
Files | Size | Format | View |
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RO201902188415473ZK.pdf | 379KB | download |