YARP Cartesian controller layers over ROS 2 for teleoperation and web applications Article Swipe
Bartek Łukawski
,
María de las Mercedes Rebollo Rayo
,
Ángel Gilabert de la Encina
,
Juan G. Victores
,
Carlos Balaguer
,
Alberto Jardón
·
YOU?
·
· 2025
· Open Access
·
· DOI: https://doi.org/10.17979/ja-cea.2025.46.12252
YOU?
·
· 2025
· Open Access
·
· DOI: https://doi.org/10.17979/ja-cea.2025.46.12252
Nuestros trabajos previos introdujeron una arquitectura de teleoperación para brazos robóticos orquestada por el entorno de trabajo e intermediario YARP. Un esquema distribuido de componentes software facilitó la adopción de nuevos periféricos para teleoperación, explorando múltiples modos de control. En este trabajo, proponemos un nexo entre los elementos de YARP ya disponibles y el ecosistema de paquetes y herramientas de Robot Operating System (ROS). Nuestro controlador cartesiano y sus interfaces C++ han servido como base para la nueva implementación, exponiendo comandos del robot y su configuración 3D en la red de ROS 2. Esto ha sido materializado en forma de una aplicación de teleoperación para el ratón 3D SpaceMouse de bajo coste, y una aplicación web construida con la librería React en JavaScript. Ambos componentes han sido probados y validados sobre robots reales y en simulación: sobre la plataforma robótica humanoide TEO y el brazo asistencial AMOR.
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Metadata
- Type
- article
- Language
- es
- Landing Page
- https://doi.org/10.17979/ja-cea.2025.46.12252
- https://revistas.udc.es/index.php/JA_CEA/article/download/12252/9143
- OA Status
- hybrid
- References
- 11
- Related Works
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- OpenAlex ID
- https://openalex.org/W4413873842
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4413873842Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.17979/ja-cea.2025.46.12252Digital Object Identifier
- Title
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YARP Cartesian controller layers over ROS 2 for teleoperation and web applicationsWork title
- Type
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articleOpenAlex work type
- Language
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esPrimary language
- Publication year
-
2025Year of publication
- Publication date
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2025-09-01Full publication date if available
- Authors
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Bartek Łukawski, María de las Mercedes Rebollo Rayo, Ángel Gilabert de la Encina, Juan G. Victores, Carlos Balaguer, Alberto JardónList of authors in order
- Landing page
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https://doi.org/10.17979/ja-cea.2025.46.12252Publisher landing page
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https://revistas.udc.es/index.php/JA_CEA/article/download/12252/9143Direct link to full text PDF
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YesWhether a free full text is available
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hybridOpen access status per OpenAlex
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https://revistas.udc.es/index.php/JA_CEA/article/download/12252/9143Direct OA link when available
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Teleoperation, Computer science, Controller (irrigation), Cartesian coordinate system, Human–computer interaction, Control (management), Mathematics, Artificial intelligence, Biology, Geometry, AgronomyTop concepts (fields/topics) attached by OpenAlex
- Cited by
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0Total citation count in OpenAlex
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11Number of works referenced by this work
- Related works (count)
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10Other works algorithmically related by OpenAlex
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