Framework Survey

From IPRE Wiki
Jump to: navigation, search

This page contains a survey of frameworks identified in Doug Blank's Pire White paper. It attempts to identify the possible utility of each framework in terms of the PIRE project humanoid simulator branch.

TeamBots

ARIA

Player/Stage

Pyro

CARMEN

MissionLab

ADE

Miro

MARIE

FlowDesigner

RobotFlow

Microsoft Robotics Developer Studio

(Has simulator)

  • Heavily abstracted model for dealing with hardware and software
  • Attempts to allow all tasks to be parallelized
  • DSS would likely never run on a micro-controller/embedded system
  • Full physics engine, can't identify from demos if physics are appropriate for
  • Lead time and overhead to test for feasibility would be relatively high

Tekkotsu

(No simulator)

  • Uses ROBOOP for kinematics calculations

YARP

Orocos

(No simulator)( EU funded abstracted controls project

  • Might make a nice software development platform
  • Real time toolkit
  • Kinematics/dynamics library - Fairly full featured, can do forward and reverse kinematics transformations.
  • Simulink Toolbox
  • Limited abstractions for hardware components
  • Bayesian filtering library

OpenHRP

[You may have been at an older site. See link below. --Doug Blank 07:05, 8 April 2009 (EDT)]

(Has Simulator)

  • OpenHRP
  • Humanoid robot dynamics simulator and platform
  • CORBA based
  • Project shut down, can't view code without login