High-level robot control with armarx

Abstract

The robot development environment (RDE) ArmarX aims at providing an infrastructure for developing a customized robot framework that allows realizing distributed robot software components. This includes communication properties, start-up and error handling, mechanisms for state implementations, interface definitions and concepts for the structured development of robot programs. In addition to this core functionality, we will show in this paper that ArmarX provides customizable building blocks for high level robot control and how these components can be used to build a generic backbone of the robot software architecture. ArmarX provides standard interfaces and ready-to-use implementations of several core components which are needed to setup a distributed robot software framework.