Software Interface for Proprioceptive Sensors and Actuators

This deliverable reports on the ongoing activities in Workpackage 7, the specification and design of a generic proprioceptive sensor-actuator interface. The design of this API is intended to be independent of a specific hardware platform and be applicable to compliant robots. To approach this goal, this deliverable reports on an extensive analysis, documentation and monitoring of frameworks, libraries and applications, both inside and outside the AMARSi context relevant for control of compliant robots. Within this framework, the AMARSi robot platforms (iCub, cCub and Cheetah) are analyzed for their specific requirements and in a collaboration between project partners UniBi, EPFL, and IIT initial mappings for the respective platforms validate our proposal at the model level within AMARSi. The resulting robot control API will serve as the common basis at the lowest level of the software architecture within the overall AMARSi architecture eventually enabling the development of rich motor skill system on compliant robot platforms.