Abstract
Programming modular robots is typically a difficult
and time-consuming task. In this position paper we describe
our vision for a programming platform supporting interactive
and incremental development of autonomous controllers for
the ATRON and Odin modular robots. Currently, the platform
consists of execution environments for the respective robots, a
simulator, and a user-interface that allows for straightforward
remote control using simple gait control tables.
We envision interactive programming of distributed controllers
being done by incrementally transitioning from simple
remote control of a specific robot configuration to autonomous
control of a whole class of similar robot configurations. This
incremental transition relies on three key elements: (1) using
symbolic names to globally identify what components (modules,
specific sensors, actuators, etc.) to control, (2) describing behaviors
using a distributed scripting language, and (3) dynamically
updating code in the running system. We conclude that in this
way we may possibly ease the task of programming modular
robots by combining the highly interactive development style
of the on-line approach with the expressiveness and ease of use
of a scripting language.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the IROS Workshop on Self-Reconfigurable Robots, Systems and Applications |
| Publication date | 2008 |
| Publication status | Published - 2008 |
| Externally published | Yes |
| Event | IROS 2008 Workshop on Self-Reconfigurable Robots/Systems and Applications. - Nice, France Duration: 1 Jan 2008 → … |
Conference
| Conference | IROS 2008 Workshop on Self-Reconfigurable Robots/Systems and Applications. |
|---|---|
| City | Nice, France |
| Period | 01/01/2008 → … |