.. _concepts:

===============
 Base Concepts
===============

The Compliant Control Architecture (CCA) is a component architecture developed
to enable machine learning and rich motor skills on compliant robot platforms,
as part of the `AMARSi`_ project.

CCA provides a :ref:`component model <component>`
with an extended :ref:`lifecycle <lifecycly>` to manage different
machine learning modes (online learning, offline learning). Communication
between components is done via :ref:`data-flow <dataflow>`. To easily manage
static and dynamic connections between components, CCA provides
:ref:`Connectivity Skeletons <skeletons>` to manage the connectivity and
:ref:`Processing Strategies <procstrat>` to manage the control flow.

See:

* :ref:`CCA Components <components>`

  * :ref:`Processing Strategies <procstrat>`
  * :ref:`CCA Component and Learning Lifecycle <lifecycle>`

* :ref:`Data-Flow <dataflow>`

  * :ref:`Connectivity Skeletons <skeletons>`

* :ref:`Beat <beat>`