YARP: Yet Another Robot Platform | Zendy

Giorgio Metta | Zendy; Paul Fitzpatrick | Zendy; Lorenzo Natale | Zendy

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YARP: Yet Another Robot Platform

Author(s) -

Giorgio Metta,

Paul Fitzpatrick,

Lorenzo Natale

Publication year - 2006

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/5761

Subject(s) - computer science , reuse , modularity (biology) , robotics , humanoid robot , code reuse , robot , software , process (computing) , software engineering , embedded system , field (mathematics) , artificial intelligence , code (set theory) , class (philosophy) , human–computer interaction , operating system , programming language , ecology , genetics , mathematics , set (abstract data type) , pure mathematics , biology

We describe YARP, Yet Another Robot Platform, an open-source project that encapsulates lessons from our experience in building humanoid robots. The goal of YARP is to minimize the effort devoted to infrastructure-level software development by facilitating code reuse, modularity and so maximize research-level development and collaboration. Humanoid robotics is a “bleeding edge” field of research, with constant flux in sensors, actuators, and processors. Code reuse and maintenance is therefore a significant challenge. We describe the main problems we faced and the solutions we adopted. In short, the main features of YARP include support for inter-process communication, image processing as well as a class hierarchy to ease code reuse across different hardware platforms. YARP is currently used and tested on Windows, Linux and QNX6 which are common operating systems used in robotics

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