This project is a modularized software framework for use with humanoid robot development and research. The modularized platform separates low level components that vary from robot to robot from the high level logic that does not vary across robots. The low level components include processes to communicate with motors and sensors on the robot, including the camera. The high level components include the state machines that control how the humanoids move around and process sensor data. By separating into these levels, we achieve a more adaptable system that is easily ported to different humanoids.
The project began with the University of Pennsylvania RoboCup code base from the 2011 RoboCup season and is continuing to evolve into an ever more generalized and versatile robot software framework.
The GitHub Wiki hosts the main source of documentation for this project:
All code sources associated with this project are freely available under the GPLv3 license.
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