On the Design and Evaluation of XBotCore, a Cross-Robot Real-Time Software Framework

Abstract

In this work we introduce XBotCore (\emph{Cross-Bot-Core}), a light-weight, Real-Time (RT) software platform for EtherCAT-based robots.
XBotCore is open-source and is designed to be both a RT robot control framework and a software middleware.
It satisfies hard RT requirements, while ensuring 1 kHz control loop even in complex Multi-Degree-Of-Freedom systems.
It provides a simple and easy-to-use middleware Application Programming Interface (API), for both RT and non-RT control frameworks. This API is completely flexible with respect to the framework a user wants to utilize.
Moreover it is possible to reuse the code written using XBotCore API with different robots (cross-robot feature).
In this paper, the XBotCore design will be described and the experimental results on the humanoid robot WALK-MAN and on the bi-manual platform CENTAURO, both developed at the Istituto Italiano di Tecnologia (IIT), will be presented.

Author Biography

Luca Muratore, IIT - Istituto Italiano di Tecnologia University of Manchester

Lead software engineer in Humanoids and Human Centered Mechatronics department at IIT.

PhD fellow at University of Manchester.

Published
2017-12-22