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This article discusses a real-time networking infrastructure for a large-scale tactile sensing system to be used with humanoid robots. In such a system, real-time networking issues are of the utmost importance. Stemming from previous work, a theoretical model is presented and experimentally validated. Tests show real-time performance in a network of distributed computational nodes, each one in charge...
Within the past decade, extensive research has been done on large-scale tactile sensing, as a result of which, a large variety of robot skins have been developed. These robot skins are different in various aspects: the sensing modality, interconnectivity of the sensors, modularity, the communication network, etc. This variety limits portability of software among these robot skins. In this article,...
In this article a software architecture for acquiring, processing and presenting distributed tactile information in real-time is discussed. When humanoid robots are endowed with large-scale tactile systems, the need arises to design a framework able to abstract from the underlying robot hardware structure. The article describes relevant functional requirements, architectural choices and specific technical...
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