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Auflistung nach Autor:in "Vahrenkamp, Nikolaus"

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  • Konferenzbeitrag
    The ArmarX framework - Supporting high level robot programming through state disclosure
    (INFORMATIK 2013 – Informatik angepasst an Mensch, Organisation und Umwelt, 2013) Welke, Kai; Vahrenkamp, Nikolaus; Wächter, Mirko; Kröhnert, Manfred; Asfour, Tamim
    In this paper we introduce the robot development environment (RDE) ArmarX. The goal of ArmarX is to ease the development of higher level capabilities for complex robotic systems. ArmarX is built upon the idea that consistent disclosure of the system state highly facilitates the development process. In order to show its applicability, we introduce a robot architecture for a complex humanoid system based on the ArmarX framework and discuss essential aspects based on an exemplary pick and place task.
  • Konferenzbeitrag
    High-level robot control with armarx
    (Informatik 2014, 2014) Vahrenkamp, Nikolaus; Wächter, Mirko; Kröhnert, Manfred; Kaiser, Peter; Welke, Kai; Asfour, Tamim
    The robot development environment (RDE) ArmarX aims at providing an infrastructure for developing a customized robot framework that allows realizing distributed robot software components. This includes communication properties, start-up and error handling, mechanisms for state implementations, interface definitions and concepts for the structured development of robot programs. In addition to this core functionality, we will show in this paper that ArmarX provides customizable building blocks for high level robot control and how these components can be used to build a generic backbone of the robot software architecture. ArmarX provides standard interfaces and ready-to-use implementations of several core components which are needed to setup a distributed robot software framework.