Robotics Software details

Robotics Software

Research & development of software for robotics at the Dynamic Legged Systems lab includes software for hard real-time computations, software for kinematics and dynamics of articulated robots, and software architectures for autonomous legged machines.
Our work on software includes simulation and control for real robots.

The Robotics Code Generator

Marco Frigerio developed RobCoGen, a model based code generator for fast kinematics and dynamics of articulated robots. More information about this project can be found at the following address:

ROS Control

Our high-level locomotion controllers are developed as part of ros-control, a ROS framework that provides the capability to implement and manage robot controllers with a focus on both real-time performance and sharing of controllers in a robot-agnostic way. More information about ROS control can be found at the following address:

  • S. Chitta, E. Marder-Eppstein, W. Meeussen, V. Pradeep, A. Rodríguez Tsouroukdissian, J. Bohren, D. Coleman, B. Magyar, G. Raiola, M. Lüdtke and E. Fernandez Perdomo, "ros_control: A generic and simple control framework for ROS" [full paper]
  • M. Frigerio, C. Semini, D. G. Caldwell, J. Buchli, "Challenges in the software architecture design for autonomous legged robots", ext. abstract for the 8th workshop on Software Development and Integration in Robotics (SDIR VIII) at IEEE ICRA, 2013. [extended abstract]
  • M. Frigerio, J. Buchli and D. G. Caldwell, "Code Generation of Algebraic Quantities for Robot Controllers", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. [full article]
  • M. Frigerio, J. Buchli and D. G. Caldwell, "A Domain Specific Language for kinematic models and fast implementations of robot dynamics algorithms", 2nd International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob’11), San Francisco, September 2011. [full article]