An Open-architecture Robot Controller applied to Interaction Tasks

摘要

This chapter is organized as follows. Section 2 overviews the most relevant categories, definitions and requirements of robot controllers. Section 3 details the reference model for open-architecture controller development. Section 4 describes the robot retrofitting for interactions tasks. Section 5 presents and discusses the experimental setup. Finally, Section 6 concludes the chapter and outlines future research and development directions.