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A portable programming framework

  • Chapter 9 Programming And Learning
  • Conference paper
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Book cover Experimental Robotics VI

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 250))

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Abstract

Programming is a key aspect in the development and practical use of complex robotic systems. The work presented in this paper describes developments conducted within Inria’s Orccad and MaestRo programming framework for a robotic application, in which the Stanford mobile platform provides assistance to humans for performing physical tasks. This type of applications underlines the need for a well-designed programming architecture, without which such development becomes easily inextricable. The objective of this work is to study the portability and generality of the Orccad and MaestRo framework by an implementation on an unfamiliar field of application (robotic assistance) and on a non-native platform.

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References

  1. O. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg, and A. Casal. “Coordination and Decentralized Cooperation of Multiple Mobile Manipulators,” Journal of Robotic Systems, vol. 13, 1996, pp. 755–64.

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  2. Jean-Jacques Borrelly, Eve Coste-Maniere, Bernard Espiau, Konstantinos Kapellos, Roger Pissard-Gibollet, Daniel Simon, Nicolas Turro, The Orccad Architecture, The International Journal of Robotics Research, April 1998.

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  3. Eve Coste-Maniere, Nicolas Turro, The MaestRo language and its environment: specification, validation and control of robotic missions, IROS97, Grenoble 1997.

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  4. Bernard Espiau, Isabelle Guigues, Roger Pissard-Gibollet, an an Underactuated Leg with a Passive Spring at the Knee Achieve a Ballistic Step?, this proceedings.

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  5. Gerard Berry and Georges Gonthier, The Synchronous Esterel Programming Language: Design, Semantics, Implementation, Science of Computer Programming, November 1992, vol 19, p87–152.

    MATH  Google Scholar 

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Author information

Authors and Affiliations

  1. Inria Sophia Antipolis, BP93, 06902, Sophia Antipolis Cedex, France

    Eve Coste-Maniere & Nicolas Turro

  2. The Robotics Lab, Stanford University, USA

    Oussama Khatib

Authors
  1. Eve Coste-Maniere
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  2. Nicolas Turro
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  3. Oussama Khatib
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Corresponding authors

Correspondence to Eve Coste-Maniere , Nicolas Turro or Oussama Khatib .

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© 2000 Springer-Verlag London Limited

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Coste-Maniere, E., Turro, N., Khatib, O. (2000). A portable programming framework. In: Experimental Robotics VI. Lecture Notes in Control and Information Sciences, vol 250. Springer, London. https://doi.org/10.1007/BFb0119416

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  • DOI: https://doi.org/10.1007/BFb0119416

  • Published:

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-85233-210-5

  • Online ISBN: 978-1-84628-541-7

  • eBook Packages: Springer Book Archive

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