ORCCAD: Software Engineering for Real-time Robotics. A Technical Insight

Daniel Simon (1) , Bernard Espiau (2) , Konstantin Kapellos (1) , Roger Pissard-Gibollet (3)

1 ICARE - Instrumentation, control and architecture of advanced robots
2 BIP - Biped Robot
3 SED [Grenoble] - Service Expérimentation et Développement

The ORCCAD programming environment for robotic systems gathers control laws in continuous time at the low levels and discrete time logical aspects at higher levels. Based upon a formal definition of robotic actions, complex applications can be designed, verified and generated incrementally. The approach and tools prototypes have been validated through several applications.

Mots clés: Control laws; ORCCAD; Robotic systems

Domaines: Robotique [cs.RO]

Daniel Simon, Bernard Espiau, Konstantin Kapellos, Roger Pissard-Gibollet. ORCCAD: Software Engineering for Real-time Robotics. A Technical Insight. Robotica, 1997, 15 (1), pp.111--115. ⟨hal-00930118⟩