A reference control architecture for service robots implemented on a climbing vehicle
Author
Ortiz Zaragoza, Francisco José; Alonso Cáceres, Diego; Álvarez Torres, María Bárbara; Pastor Franco, Juan ÁngelResearch Group
División de Sistemas e Ingeniería Electrónica (DSIE)Knowledge Area
Lenguajes y Sistemas Informáticos; Tecnología ElectrónicaSponsors
This work has been partially supported by European Union (GROWTH G3RD-CT- 00794) and the Spanish Government programs CICYT (TIC2003-07804-C05-02) and Seneca (PB/5/FS/02).Publication date
2005-06-07Publisher
SpringerBibliographic Citation
ORTIZ, Francisco, ALONSO, Diego, ÁLVAREZ, Bárbara, PASTOR, Juan A. A reference control architecture for service robots implemented on a climbing vehicle. Lecture Notes in Computer Science, 3555/2005: 13-24, Junio 2005. ISSN 0302-9743Keywords
Robot teleoperadoArquitectura de Control para Robots de Servicio Teleoperados (ACROSET)
Componentes de la Coordinación, Control y la abstracción de subsistemas (CCAS)
Lázaro vehículo
Entorno amigable y tecnología rentable para la eliminación de revestimientos (EFTCoR)
Teleoperated robot
Control Architecture for Teleoperated Service Robots (ACROSET)
Components of the Coordination, Control and Abstraction Subsystem (CCAS)
Lázaro Vehicle
Environmental Friendly and Cost-Effective Technology for Coating Removal (EFTCoR)
Abstract
Teleoperated robots are used to perform hazardous tasks
that human operators cannot carry out. The purpose of this paper is
to present a new architecture (ACROSET) for the development of these
systems that takes into account the current advances in robotic architectures
while adopting the component-oriented approach. The architecture
is currently being used, tested and improved in the development of an
heterogeneous family of robots in the context of the EFTCoR project. It
is also presented the Ada’95 implementation of ACROSET for a climbing
robot.
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