D2.1 Requirements and Specification - CORBYS

D2.1 Requirements and Specification
System (software) architecture:
The iCub architecture is based on YARP (Yet Another Robot Platform) (Metta, 2006)], open-source
framework that supports distributed computing. Figure 32 shows the layers of the iCub architecture. The
lowest level API-0 of system architecture is used for accessing hardware components, by formatting and
unformatting IP packages into appropriate classes and data structures. IP packets are sent to the robot by GBit
Ethernet connection. High-level cognitive processes are implemented as YARP processes.
Real time control:
In order to achieve real-time control of the robotic system, control of joint actuators is carried out by digital
signal processing (DSP) units that are mounted on robotic platform. The iCub software runs in parallel on a
distributed system of computers that are connected via Gbit Ethernet with the Hub unit (PC/104) that is also
located on the robotic platform.
Planning:
In the brain, the basal ganglia are responsible for action selection and therefore in modulation circuit is present
action selection circuit that corresponds to ganglia.
Communication:
Multiple CAN bus structure is used to communicate with control/driver and AD cards on the robotic system,
while Gbit Ethernet is used to communicate data between the robotic system and distributed system of
computers. YARP architecture supports building robot control system as a collection of programs
communicating in peer-to-peer way, with broad range of connection types (tcp, udp, multicast, XML/RPC,
tcpros and etc.)
13.2.4 Care­O­bot
System architecture:
The Care-O-bot System is controlled by a heterogeneous hybrid layered software architecture, which
combines reactive and deliberative control. It consists of several basic modules, as displayed in the following
figure.
Figure 34: Architecture of Care-O-bot (Hans et. al. 2001)
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