Software architecture of the da vinci research kit

Zihan Chen, Anton Deguet, Russell H Taylor, Peter Kazanzides

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.

Original languageEnglish (US)
Title of host publicationProceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages180-187
Number of pages8
ISBN (Electronic)9781509067237
DOIs
StatePublished - May 11 2017
Event1st IEEE International Conference on Robotic Computing, IRC 2017 - Taichung, Taiwan, Province of China
Duration: Apr 10 2017Apr 12 2017

Other

Other1st IEEE International Conference on Robotic Computing, IRC 2017
CountryTaiwan, Province of China
CityTaichung
Period4/10/174/12/17

Keywords

  • Da Vinci Research Kit
  • Real-Time Systems
  • Robot Control
  • Software Architecture

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Optimization

Fingerprint Dive into the research topics of 'Software architecture of the da vinci research kit'. Together they form a unique fingerprint.

  • Cite this

    Chen, Z., Deguet, A., Taylor, R. H., & Kazanzides, P. (2017). Software architecture of the da vinci research kit. In Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017 (pp. 180-187). [7926536] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IRC.2017.69