TY - GEN
T1 - Timor Python
T2 - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
AU - Kulz, Jonathan
AU - Mayer, Matthias
AU - Althoff, Matthias
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Modular Reconfigurable Robots (MRRs) represent an exciting path forward for industrial robotics, opening up new possibilities for robot design. Compared to monolithic manipulators, they promise greater flexibility, improved maintainability, and cost-efficiency. However, there is no tool or standardized way to model and simulate assemblies of modules in the same way it has been done for robotic manipulators for decades. We introduce the Toolbox for Industrial Modular Robotics (Timor), a Python toolbox to bridge this gap and integrate modular robotics into existing simulation and optimization pipelines. Our open-source library offers model generation and task-based configuration optimization for MRRs. It can easily be integrated with existing simulation tools - not least by offering URDF export of arbitrary modular robot assemblies. Moreover, our experimental study demonstrates the effectiveness of Timor as a tool for designing modular robots optimized for specific use cases.
AB - Modular Reconfigurable Robots (MRRs) represent an exciting path forward for industrial robotics, opening up new possibilities for robot design. Compared to monolithic manipulators, they promise greater flexibility, improved maintainability, and cost-efficiency. However, there is no tool or standardized way to model and simulate assemblies of modules in the same way it has been done for robotic manipulators for decades. We introduce the Toolbox for Industrial Modular Robotics (Timor), a Python toolbox to bridge this gap and integrate modular robotics into existing simulation and optimization pipelines. Our open-source library offers model generation and task-based configuration optimization for MRRs. It can easily be integrated with existing simulation tools - not least by offering URDF export of arbitrary modular robot assemblies. Moreover, our experimental study demonstrates the effectiveness of Timor as a tool for designing modular robots optimized for specific use cases.
UR - http://www.scopus.com/inward/record.url?scp=85172192340&partnerID=8YFLogxK
U2 - 10.1109/IROS55552.2023.10341935
DO - 10.1109/IROS55552.2023.10341935
M3 - Conference contribution
AN - SCOPUS:85172192340
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 424
EP - 431
BT - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 1 October 2023 through 5 October 2023
ER -