A Generic Synchronous Dataflow Architecture to Rapidly Prototype and Deploy Robot Controllers

Diego Ferigo, Silvio Traversaro, Francesco Romano, Daniele Pucci
6/5/2019
cs.RO

Official code: robotology/blockfactory (42 stars, LGPL-2.1, last commit 2026-02-26). 1 more implementation below.

Abstract

The paper presents a software architecture to optimize the process of prototyping and deploying robot controllers that are synthesized using model-based design methodologies. The architecture is composed of a framework and a pipeline. Therefore, the contribution of the paper is twofold. First, we introduce an open-source actor-oriented framework that abstracts the common robotic uses of middlewares, optimizers, and simulators. Using this framework, we then present a pipeline that implements the model-based design methodology. The components of the proposed framework are generic, and they can be interfaced with any tool supporting model-based design. We demonstrate the effectiveness of the approach describing the application of the resulting synchronous dataflow architecture to the design of a balancing controller for the YARP-based humanoid robot iCub. This example exploits the interfacing with Simulink and Simulink Coder.

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Code Implementations(2)

robotology/blockfactoryOfficial100%
LGPL-2.1

A tiny framework to wrap algorithms for dataflow programming

4216C, C++Dec 5, 20187 months agoLGPL-2.1
algorithmsblockfactorydataflowframeworkmatlab+3 more
robotology/wb-toolboxOfficial100%
LGPL-2.1

Simulink toolbox to rapidly prototype robot controllers

2620C++, CMakeNov 30, 20153 months agoLGPL-2.1
blockfactorycode-generationdataflowdynamicsicub+13 more

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Cite this paper

@article{ferigo2019generic,
  title  = {A Generic Synchronous Dataflow Architecture to Rapidly Prototype and Deploy Robot Controllers},
  author = {Diego Ferigo and Silvio Traversaro and Francesco Romano and Daniele Pucci},
  year   = {2019},
  eprint = {1906.02286},
  archivePrefix = {arXiv},
  url    = {https://arxiv.org/abs/1906.02286}
}

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