YARP: Yet Another Robot Platform
Top Cited Papers
Open Access
- 1 March 2006
- journal article
- research article
- Published by SAGE Publications in International Journal of Advanced Robotic Systems
- Vol. 3 (1), 8
- https://doi.org/10.5772/5761
Abstract
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.Keywords
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