Computational Specification

Here you can find TORP robots computational requirements.

Each single robot module carries its own computational unit. There is no limitation on the technology of the computational unit. All kinds of computer boards or microprocessors boards can be used. However, the following requirements must be respected:

1. Position: the computational unit must physically fit the module;
2. Functionality: the computational unit must be able to fully control all module sensors and actuators;
3. Communication capability: the computational unit must be able to communicate with other modules according to the TORP communication specifications;
4. Alone/network use: the module must be able to work in a robot network as well as in stand-alone mode (without a network);
5. Services: the computational unit must provide services to the robot network, that can be used by other instances and unities;
6. Internal states and monitoring: The computational unit must be able to provide at all time the full module information, that is, an up to date table of its proprioceptive and exteroceptive information). In other words, the module must keep actualized internal states with information continuously obtained from its sensors and actuators, as well as monitoring status information (board temperature, module inclination, etc.);
7. Hot plug-in: the computational structure of the robot must allow a hot replacing of the module, that is, the replacement of that part without turning off the robot or the robot network;

---