The basic concepts of RCI are based on a extensive feature-oriented domain analysis on compliant robots and their control software, which is documented in the AMARSi Deliverable D 7.1.
Resource Nodes are the implementation-independent base elements of a robot interface defined in RCI and roughly corresponds to a (physical or simulated) joint or a sensor of a robot. See Resource Nodes.
The Interfaces that can be implemented by Resource Nodes are consistently split up into controlling and sensing interfaces, see ctrlsens.
Data Transfer Objects are the domain-specific data-holders defined within RCI and correspond to the different controlling and sensing interfaces. See Data Transfer Objects.
The Synchronizer is the implementation-dependent part of RCI, connecting the Resource Nodes to the actual robot hardware or simulation.