YARP: Yet Another Robot Platform

By Giorgio Metta, P. Fitzpatrick, Lorenzo Natale. 2006

741 citations recorded by the source corpus.

We describe YARP, Yet Another Robot Platform, an open-source project that encapsulates lessons from our experience in building humanoid robots. The goal of YARP is to minimize the effort devoted to infrastructure-level software development by facilitating code reuse, modularity and so maximize research-level development and collaboration. Humanoid robotics is a “bleeding edge” field of research, with constant flux in sensors, actuators, and processors. Code reuse and maintenance is therefore a significant challenge. We describe the main problems we faced and the solutions we adopted. In short, the main features of YARP include support for inter-process communication, image processing as well as a class hierarchy to ease code reuse across different hardware platforms. YARP is currently used and tested on Windows, Linux and QNX6 which are common operating systems used in robotics.

Subfields: Artificial Intelligence, Control and Systems Engineering, Software

View Paper: https://www.semanticscholar.org/paper/cdf3a46081cea4525617dff11405482bc8cc7064

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Citations in the corpus

A Bayesian exploration-exploitation approach for optimal online sensing and planning with a visually guided mobile robot (2009, methodology): “However, the system was built using the YARP middleware by Metta et al (2006) and therefore it allows us to use local feature detectors, such as SIFT or SURF.”
Robot Operating System 2: Design, architecture, and uses in the wild (2022, background): “YARP aids in building control systems organized as peers, communicating over several protocols [19].”
Tactile sensing in dexterous robot hands - Review (2015, neutral): “…robot control platforms are available: in [30], robot operating system (ROS) [97] is used to control Shadow robot hand [98], robot platform (YARP) [99] is used to control iCub humanoid robot [100]; the controlling operating system dSPACE from dSPACE Co. is used in [39] to control high speed-robot…”
Modelling and Simulation for Autonomous Systems (2016, methodology): “measure their effectiveness and different requirements when facing the issue of controlling the real aircrafts and RPAS together [4].”
First-person tele-operation of a humanoid robot (2015, methodology): “The control of the OR is performed via the official Oculus Rift SDK which allows to access the head orientation data as well as sending images to the display.”
Robotic Hand Pose Estimation Based on Stereo Vision and GPU-enabled Internal Graphical Simulation (2016, methodology): “This information is sent to the Internal Model through communication port II) via the YARP (Yet Another Robotic Platform) middleware [28].”
The Open Motion Planning Library (2012, neutral): “org), OpenRTM-aist [27], OPRoS [28], Yarp [29]).”
Teaching iCub to recognize objects using deep Convolutional Neural Networks (2015, background): “It has been largely demonstrated that multi-layer CNNs can learn powerful hierarchical visual representations able to cope with large-scale problems.”
Development environments for autonomous mobile robots: A survey (2007, background): “YARP: Yet another robot platform.”
Learning Generalizable Control Programs (2011, methodology): “A Control Basis Applications Programming Interface (or CBAPI) [8] has been implemented using both Microsoft Robotics Developer's Studio [15] and YARP [14].”
Autonomous online generation of a motor representation of the workspace for intelligent whole-body reaching (2014, methodology): “This modular distributed computation is supported by the use of the YARP software framework [36].”
The iCub humanoid robot: An open-systems platform for research in cognitive development (2010, methodology): “The second abstraction of YARP concerns hardware devices.”
Robot Cognitive Control with a Neurophysiologically Inspired Reinforcement Learning Model (2011, methodology): “MOTOR COMMANDS Motor output from the model’s PMC module is sent to the robotic devices via port communication with YARP (Metta et al., 2006).”