Control and Sensing InterfacesΒΆ

Interfaces for Resource Nodes are consistently splitting up controlling and sensing aspects. So for each control variable (eg. joint position, velocity or torque) a resource specifies if it is able to sense or control it, or both.

The idea of consistently splitting up controlling and sensing aspects is 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.

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