@inproceedings{64fcac7862bf4c5aaaec7ec9d7fb3b22,
title = "Software architecture of the da vinci research kit",
abstract = "The da Vinci Research Kit (dVRK) has been installed at over 25 research institutions across the world, forming a research community sharing a common open-source research platform. This paper presents the dVRK software architecture, which consists of a distributed hardware interface layer, a real-Time component-based software framework, and integration with the Robot Operating System (ROS). The architecture is scalable to support multiple active manipulators, reconfigurable to enable researchers to partition a full system into multiple independent subsystems, and extensible at all levels of control.",
keywords = "Da Vinci Research Kit, Real-Time Systems, Robot Control, Software Architecture",
author = "Zihan Chen and Anton Deguet and Taylor, {Russell H.} and Peter Kazanzides",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 1st IEEE International Conference on Robotic Computing, IRC 2017 ; Conference date: 10-04-2017 Through 12-04-2017",
year = "2017",
month = may,
day = "11",
doi = "10.1109/IRC.2017.69",
language = "English (US)",
series = "Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "180--187",
booktitle = "Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017",
}