Towards IoT-Aided Human–Robot Interaction Using NEP and ROS: A Platform-Independent, Accessible and Distributed Approach release_waamw2xlrnefxfeaiw6itjusga

by Luis Coronado, Gentiane Venture

Published in Sensors by MDPI AG.

2020   Volume 20, Issue 5, p1500

Abstract

This article presents the novel Python, C# and JavaScript libraries of Node Primitives (NEP), a high-level, open, distributed, and component-based framework designed to enable easy development of cross-platform software architectures. NEP is built on top of low-level, high-performance and robust sockets libraries (ZeroMQ and Nanomsg) and robot middlewares (ROS 1 and ROS 2). This enables platform-independent development of Human–Robot Interaction (HRI) software architectures. We show minimal code examples for enabling Publish/Subscribe communication between Internet of Things (IoT) and Robotics modules. Two user cases performed outside laboratories are briefly described in order to prove the technological feasibility of NEP for developing real-world applications. The first user case briefly shows the potential of using NEP for enabling the creation of End-User Development (EUD) interfaces for IoT-aided Human–Robot Interaction. The second user case briefly describes a software architecture integrating state-of-art sensory devices, deep learning perceptual modules, and a ROS -based humanoid robot to enable IoT-aided HRI in a public space. Finally, a comparative study showed better latency results of NEP over a popular state-of-art tool (ROS using rosbridge) for connecting different nodes executed in local-host and local area network (LAN).
In application/xml+jats format

Archived Files and Locations

application/pdf  11.1 MB
file_2qfntzqb55h4xgxzacrlucbtji
res.mdpi.com (web)
web.archive.org (webarchive)
Read Archived PDF
Preserved and Accessible
Type  article-journal
Stage   published
Date   2020-03-09
Language   en ?
DOI  10.3390/s20051500
PubMed  32182906
Container Metadata
Open Access Publication
In DOAJ
In ISSN ROAD
In Keepers Registry
ISSN-L:  1424-8220
Work Entity
access all versions, variants, and formats of this works (eg, pre-prints)
Catalog Record
Revision: bf2b9c96-7594-4874-9cf9-57224ed319c8
API URL: JSON