A Structured Approach for Modular Design: A Plug and Play Middleware for Sensory Modules, Actuation Platforms, Task Descriptions and Implementations in Robotics and Automation Environments

摘要

In this paper, the RISCWare framework is developed and described. RISCWare is a robotic middleware used for the integration of heterogeneous robotic components. RISCWare consists of three modules. The first module is the sensory module which represents sensors that collect information about the remote or local environment. The platform module defines the robotic platforms and actuation methods. The last module is the task-description module, which defines the tasks and applications that the platforms will perform; such as teleoperation, navigation, obstacle avoidance, manipulation, 3-D reconstruction, and map building. The Plug-and-Play approach is one of the key features of RISCWare, which allows auto-detection and auto-reconfiguration of the attached standardized components (hardware and software) according to current system configurations. These components can be dynamically available or unavailable. Dynamic reconfiguration provides the facility to modify a system during its execution, and can be used to apply patches and updates, to implement adaptive systems, or to support third-party modules. This automatic detection and reconfiguration of devices and driver software makes it easier and more efficient for the end users to add and use new devices and software applications. Several experiments, performed on the RISCbot II mobile manipulation platform are described and implemented to evaluate the RISCWare framework with respect to applicability and resource utilization.