Base Concepts

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

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.

Controlling and Sensing Interfaces

The Interfaces that can be implemented by Resource Nodes are consistently split up into controlling and sensing interfaces, see ctrlsens.

Data Transfer Objects

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.

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