URBI: towards a universal robotic low-level programming language
URBI: towards a universal robotic low-level programming language
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URBI：迈向通用机器人低级编程语言
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发表时间：
2005
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通讯作者：
Jean
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作者：
Jean
现有的机器人设备（如类人动物，类似动物的机器人或车轮机器人）的多样性和复杂性的日益增长，导致了几个不兼容的软件界面的发展，以控制这些机器人。我们认为，需要一个可以通用，强大且易于使用的标准。开源项目Urbi是一种通用机器人体界面，旨在为这样的标准提供基础。它基于客户/服务器体系结构，在该客户端/服务器体系结构中，服务器在机器人上运行并由客户端，机器人或通过TCP/IP访问。 URBI语言是客户使用的脚本语言，能够控制机器人的接头或访问其传感器，相机，扬声器或机器中任何可访问的部分。我们在本文中介绍了URBI的介绍，并描述了URBI与当前现有的解决方案的不同。作为使用URBI特异性功能的一个例子，我们提出了一种简单的扰动方法来行走模式生成，urbi在ERS7 AIBO机器人上运行。
The growing diversity and complexity of existing robotic devices like humanoids, animal-like robots or wheeled robots, lead to the development of several incompatible software interfaces to control these robots. We believe that there is a need for a standard which could be universal, powerful and easy to use. The open source project URBI, a universal robotic body interface, aims at providing the ground for such a standard. It is based on a client/server architecture where the server is running on the robot and accessed by the client, on the robot or remotely via TCP/IP. The URBI language is a scripted language used by the client and capable of controlling the joints of the robot or access its sensors, camera, speakers or any accessible part of the machine. We present in this article an introduction to URBI and we describe how URBI differs from currently existing solutions. As an example making use of URBI-specific features, we present a simple perturbative approach to walk pattern generation, with URBI running on a ERS7 Aibo robot.