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Humanoid Robotics: Real-Time Object Oriented ProgrammingProgramming of robots in today's world is often done in a procedural oriented fashion, where object oriented programming is not incorporated. In order to keep a robust architecture allowing for easy expansion of capabilities and a truly modular design, object oriented programming is required. However, concepts in object oriented programming are not typically applied to a real time environment. The Fujitsu HOAP-2 is the test bed for the development of a humanoid robot framework abstracting control of the robot into simple logical commands in a real time robotic system while allowing full access to all sensory data. In addition to interfacing between the motor and sensory systems, this paper discusses the software which operates multiple independently developed control systems simultaneously and the safety measures which keep the humanoid from damaging itself and its environment while running these systems. The use of this software decreases development time and costs and allows changes to be made while keeping results safe and predictable.
Document ID
Document Type
Conference Paper
Newton, Jason E.
(Riverside Community Coll. CA, United States)
Date Acquired
August 23, 2013
Publication Date
August 1, 2005
Publication Information
Publication: Summer Student Research Presentations
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Distribution Limits
Work of the US Gov. Public Use Permitted.

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