Real world objects handling requires a complete robot and sensor system that must be managed by an adequate software architecture. This paper presents the lessons learned in the successful integration of a software architecture based on ROS within the European project HANDLE. It focuses on re-usability and adaptability of several packages of the ROS community for the purpose of real world in-hand manipulation. Solutions proposed can be transferred to other arm and hand systems.
(2014). A Case Study of ROS Software Re-usability for Dexterous In-Hand Manipulation [journal article - articolo]. In JOURNAL OF SOFTWARE ENGINEERING IN ROBOTICS. Retrieved from http://hdl.handle.net/10446/87663
A Case Study of ROS Software Re-usability for Dexterous In-Hand Manipulation
2014-01-01
Abstract
Real world objects handling requires a complete robot and sensor system that must be managed by an adequate software architecture. This paper presents the lessons learned in the successful integration of a software architecture based on ROS within the European project HANDLE. It focuses on re-usability and adaptability of several packages of the ROS community for the purpose of real world in-hand manipulation. Solutions proposed can be transferred to other arm and hand systems.| File | Dimensione del file | Formato | |
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