The shift in the robotics paradigm — The Hardware Robot Operating System (H-ROS); an infrastructure to create interoperable robot components
- Resource Type
- Conference
- Authors
- Mayoral, Victor; Hernandez, Alejandro; Kojcev, Risto; Muguruza, Inigo; Zamalloa, Irati; Bilbao, Asier; Usategi, Lander
- Source
- 2017 NASA/ESA Conference on Adaptive Hardware and Systems (AHS) Adaptive Hardware and Systems (AHS), 2017 NASA/ESA Conference on. :229-236 Jul, 2017
- Subject
- Aerospace
Components, Circuits, Devices and Systems
Robotics and Control Systems
Hardware
Software
Service robots
Robot kinematics
Standards
Robot sensing systems
robotics
standard
hardware
ROS
real-time Ethernet
- Language
- ISSN
- 2471-769X
This article introduces the Hardware Robot Operating System (H-ROS), a joint hardware and software infrastructure to create vendor-agnostic reusable and reconfigurable robot hardware components. These robot components dynamically modify and extend the internal representation model of the robot enabling robots to switch on or off components selectively and literally exchange hardware components between them reducing the integration effort of building robots. Our results demonstrate the feasibility of the hypotheses presented, discuss future work and improvements on top of the proposed H-ROS infrastructure.