It can be easier to control robots using software, rather than hardware. This allows for upgrades and modifications to be made to the robot's systems - which may offset the higher development costs....
This page was last updated on September 7th, 2008
This page was last updated on September 7th, 2008
Control (from Software)
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EusLisp Robot Programming Language
Object-oriented Lisp-based programming system designed specifically for the development of robotics software.
xbot
A modular bot software environment based on the .Net framework for autonomous neuronal network, script or map driven mobile omniwheel robots using the SV203 controller. Free Software licensed under the GNU GPL.
Modular Controller Architecture 2
A modular, network transparent, realtime capable, C/C++ framework for controlling robots. The main plattform is Linux/RTLinux but Win32 and Solaris also supported. MCA-2 is Free Software licensed under the GNU GPL.
GVG SLAM
Simultaneous Localization and Mapping (SLAM) software that generates a map called a generalized Voronoi graph (GVG). Written in C.
SAPHIRA
A robot control system developed at SRI's AI Center as an integrated architecture for robot perception and action. C/C++ source include. Non-commercial use only.
Robot Control C Library
RCCL is a library of C routines for doing real-time control and graphic simulation of a number of industrial robots, primarily PUMAs. License allows non-commercial use only.
Mobile and Autonomous Robotics Integration Environment
MARIE is a development and integration environment built over a communication layer. Its main goal is to integrate other robotics software such as Player/Stage, CARMEN, and RobotFlow. MARIE is Free Software licensed under the GNU GPL.
4 Axis Stepper Control for CNC
Windows and DOS-based software is provided to control homebrew, stepper-based, 4-axis CNC hardware that cuts parts for sailplane models.
step
C source code for a Linux stepper motor controller that can control up to 3 unipolar steppers through a PC parallel port. Free Software licensed under the GNU GPL.
Dave's Multi-tasking Sumo Robot Program
Multi-tasking control program for a Sumo robot equipped with multiple sensors. C source code for the 68HC11 Handiboard.
Object Oriented Mobile Robot Model
OOMRM is a C++ library developed for the 68332 MRM microprocessor board. It includes a host (Windows/Linux) mobile robot simulator that can be run independently of the 68332. OOMRM is Free Software licensed under the GNU LGPL.
PC/104 Robotics Drivers
For PC/104+ users. Includes Linux drivers for the ACCES 104-DIO-48S digital I/O board, up to 8 Polaroid ultrasonic sensors, and an interface to a PIC controller for motor control with encoder feedback. Free Software written in C and licensed under the GNU
Autopilot
A complete Unmanned Aerial Vehicle (UAV) control system with 3 axis IMU/INS+GPS. Autopilot is Free Software and, along with the associated hardware designs, is licensed under the GNU GPL.
Pyro AI and Robotics System
A library, environment, graphical user interface, and low-level drivers to explore AI and robotics using the Python language. Pyro is Free Software licensed under the GNU GPL.
jabot
Event-driven controller for small remote robots. This approach uses a MIDI-style object mechanism for controlling over the internet. JINI and Java based.
SPLAT
The Simple Provisional Language for Actions and Tasks provides both a language for specifying control laws and a runtime environment for executing and monitoring them. Based on RScheme. SPLAT is Free Software licensed under the GNU GPL.
BotController
Control software for Khepera, Koala or Hemisson robots. Connects to robot via PC serial port. Provides a graphical representation and a powerful and easy to use BASIC editor. Commercial, proprietary software for MS Windows.
ServoMaster
A platform independent servo controller driver compatible with FerretTronics and Phidget boards. Java and C++ versions. Free Software licensed under the GNU GPL.
Robosoft
A multiprocess robotic "nervous system" that will allow a four-legged robot to control itself autonomously in nine degrees of freedom. Robosoft is Open Source C++ code under the BSD license.
EGgO Educational Robotics Platform
A software platform and associated hardware with a focus on educational use. Software can handle 100+ I/O ports, up to 12-16 servos and many DC motors. EGgO is written in Python, runs on Linux and is Free Software licensed under the GNU GPL.
Nomadic.Sourceforge.Net
Official production releases and source code from the now defunct Nomadic Technologies, Inc. Source code to all drivers, libraries and applications is now under the GNU GPL license.
Scene
An Open Source C++ library for sequential localisation and map-building. Modular design makes it suitable for robot navigation in 1D, 2D or 3D with arbitrary sensing capabilities. Licensed under GNU GPL.
JRobot
Java Interface for Mitsubishi RVM1 Robot. Control and camera interfaces are provided. Open Source software released under the BSD license.
PUMA Communicator
Software to replace the old 5 1/4" floppy drive supplied with PUMA 500 robotis from Unimation. Allow user to write VAL programs off-line and upload it later from PC to the PUMA robot. Commercial, proprietary software for Windows.
MotoRobots Software Libraries
A collection of Open Source embedded software libraries for mobile robotics applications, targeting Motorola 68K/ColdFire and PowerPC micros. The code is written in C, C++, and assembler and licensed under the GNU LGPL.
RAP System
The Reactive Action Packages (RAP) system provides a plan and task representation structured to make a task's expected behavior evident. Written in Common Lisp. Copyright allows educational use only.
FIPA-OS
A component-based Java toolkit enabling rapid development of FIPA compliant physical agents. Source code is available under an Open Source-like license.
KControl
A Linux-based control and monitor program for the Khepera robot. C++ source is included. License prohibits most non-educational use.
CMU Mobile Autonomous Robot Software
CMU MultiRobot Lab MARS packages are complete, effective and scalable software for autonomous robot teams. Support for integrated perception, reasoning, learning, communication and cooperative strategies that solve complex multiagent tasks. Free Software
RHexLib
A collection of C++ libraries that form the Open Source control software used in the RHex hexapod robot. The code was developed for the QNX RTOS but also runs on Linux. Released under the BSD license.
Dave's Robotic Operating System
DROS is an Open Source project at the Australian National University. DROS is a modular framework for controlling a wide range of mobile robots. Coded in C++ and Perl. Licensed under the GNU GPL.
DRobot
Reversed-engineered, Open Source control software for robots made by the now defunct Nomadic Technologies, Inc.. Written in C and released under the GNU GPL.
Peeves Control Program
PID-based odometry and dead-reckoning for a mobile robot with differential steering, implemented for a Lego RCX module. Detailed article describes theory of operation. Open Source software written in the NQC language and released under an MIT license.
ActivMedia Robotics Interface for Applications
ARIA is an OO C++ library for controlling ActivMedia mobile robots. Provides dynamic control of velocity, heading, and other navigation settings as well as I/O bus, gripper, pan-tilt, and bumpers. ARIA is Free Software licensed under the GNU GPL.
NROSoft Robotics Software
BASIC Stamp code used by the GearGrinders (Team 112) in the FIRST robotic competition. Source code for the 2001 and 2002 events is available.
Visual Servo Automation
VSA provides MS Windows-based motion control compatible with servo controllers commonly used in robotics applications such the Mini SSC, SV203, and SMI boards. VSA is proprietary, commercial software.
Carnegie Mellon Robot Navigation Toolkit
CARMEN is modular, Open Source C software designed to provide basic navigation primatives including: base and sensor control, obstacle avoidance, localization, path planning, people-tracking, and mapping. Licensed under the GNU GPL.
Object-oriented Lisp-based programming system designed specifically for the development of robotics software.
A modular bot software environment based on the .Net framework for autonomous neuronal network, script or map driven mobile omniwheel robots using the SV203 controller. Free Software licensed under the GNU GPL.
A modular, network transparent, realtime capable, C/C++ framework for controlling robots. The main plattform is Linux/RTLinux but Win32 and Solaris also supported. MCA-2 is Free Software licensed under the GNU GPL.
Simultaneous Localization and Mapping (SLAM) software that generates a map called a generalized Voronoi graph (GVG). Written in C.
A robot control system developed at SRI's AI Center as an integrated architecture for robot perception and action. C/C++ source include. Non-commercial use only.
RCCL is a library of C routines for doing real-time control and graphic simulation of a number of industrial robots, primarily PUMAs. License allows non-commercial use only.
MARIE is a development and integration environment built over a communication layer. Its main goal is to integrate other robotics software such as Player/Stage, CARMEN, and RobotFlow. MARIE is Free Software licensed under the GNU GPL.
Windows and DOS-based software is provided to control homebrew, stepper-based, 4-axis CNC hardware that cuts parts for sailplane models.
C source code for a Linux stepper motor controller that can control up to 3 unipolar steppers through a PC parallel port. Free Software licensed under the GNU GPL.
Multi-tasking control program for a Sumo robot equipped with multiple sensors. C source code for the 68HC11 Handiboard.
OOMRM is a C++ library developed for the 68332 MRM microprocessor board. It includes a host (Windows/Linux) mobile robot simulator that can be run independently of the 68332. OOMRM is Free Software licensed under the GNU LGPL.
For PC/104+ users. Includes Linux drivers for the ACCES 104-DIO-48S digital I/O board, up to 8 Polaroid ultrasonic sensors, and an interface to a PIC controller for motor control with encoder feedback. Free Software written in C and licensed under the GNU
A complete Unmanned Aerial Vehicle (UAV) control system with 3 axis IMU/INS+GPS. Autopilot is Free Software and, along with the associated hardware designs, is licensed under the GNU GPL.
A library, environment, graphical user interface, and low-level drivers to explore AI and robotics using the Python language. Pyro is Free Software licensed under the GNU GPL.
Event-driven controller for small remote robots. This approach uses a MIDI-style object mechanism for controlling over the internet. JINI and Java based.
The Simple Provisional Language for Actions and Tasks provides both a language for specifying control laws and a runtime environment for executing and monitoring them. Based on RScheme. SPLAT is Free Software licensed under the GNU GPL.
Control software for Khepera, Koala or Hemisson robots. Connects to robot via PC serial port. Provides a graphical representation and a powerful and easy to use BASIC editor. Commercial, proprietary software for MS Windows.
A platform independent servo controller driver compatible with FerretTronics and Phidget boards. Java and C++ versions. Free Software licensed under the GNU GPL.
A multiprocess robotic "nervous system" that will allow a four-legged robot to control itself autonomously in nine degrees of freedom. Robosoft is Open Source C++ code under the BSD license.
A software platform and associated hardware with a focus on educational use. Software can handle 100+ I/O ports, up to 12-16 servos and many DC motors. EGgO is written in Python, runs on Linux and is Free Software licensed under the GNU GPL.
Official production releases and source code from the now defunct Nomadic Technologies, Inc. Source code to all drivers, libraries and applications is now under the GNU GPL license.
An Open Source C++ library for sequential localisation and map-building. Modular design makes it suitable for robot navigation in 1D, 2D or 3D with arbitrary sensing capabilities. Licensed under GNU GPL.
Java Interface for Mitsubishi RVM1 Robot. Control and camera interfaces are provided. Open Source software released under the BSD license.
Software to replace the old 5 1/4" floppy drive supplied with PUMA 500 robotis from Unimation. Allow user to write VAL programs off-line and upload it later from PC to the PUMA robot. Commercial, proprietary software for Windows.
A collection of Open Source embedded software libraries for mobile robotics applications, targeting Motorola 68K/ColdFire and PowerPC micros. The code is written in C, C++, and assembler and licensed under the GNU LGPL.
The Reactive Action Packages (RAP) system provides a plan and task representation structured to make a task's expected behavior evident. Written in Common Lisp. Copyright allows educational use only.
A component-based Java toolkit enabling rapid development of FIPA compliant physical agents. Source code is available under an Open Source-like license.
A Linux-based control and monitor program for the Khepera robot. C++ source is included. License prohibits most non-educational use.
CMU MultiRobot Lab MARS packages are complete, effective and scalable software for autonomous robot teams. Support for integrated perception, reasoning, learning, communication and cooperative strategies that solve complex multiagent tasks. Free Software
A collection of C++ libraries that form the Open Source control software used in the RHex hexapod robot. The code was developed for the QNX RTOS but also runs on Linux. Released under the BSD license.
DROS is an Open Source project at the Australian National University. DROS is a modular framework for controlling a wide range of mobile robots. Coded in C++ and Perl. Licensed under the GNU GPL.
Reversed-engineered, Open Source control software for robots made by the now defunct Nomadic Technologies, Inc.. Written in C and released under the GNU GPL.
PID-based odometry and dead-reckoning for a mobile robot with differential steering, implemented for a Lego RCX module. Detailed article describes theory of operation. Open Source software written in the NQC language and released under an MIT license.
ARIA is an OO C++ library for controlling ActivMedia mobile robots. Provides dynamic control of velocity, heading, and other navigation settings as well as I/O bus, gripper, pan-tilt, and bumpers. ARIA is Free Software licensed under the GNU GPL.
BASIC Stamp code used by the GearGrinders (Team 112) in the FIRST robotic competition. Source code for the 2001 and 2002 events is available.
VSA provides MS Windows-based motion control compatible with servo controllers commonly used in robotics applications such the Mini SSC, SV203, and SMI boards. VSA is proprietary, commercial software.
CARMEN is modular, Open Source C software designed to provide basic navigation primatives including: base and sensor control, obstacle avoidance, localization, path planning, people-tracking, and mapping. Licensed under the GNU GPL.
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