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

Luca Muratore

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.


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