About

The control system of Velma robot is a complex, hierarchical structure. It is based on the Embodied Agent concept developed at Institute of Control & Computation Engineering at WARSAW UNIVERSITY OF TECHNOLOGY.

Specification is expressed using EARL, a SysML based language for robotic systems based on Embodied Agent concept.

WUT Velma robot is unique, but it is built out of standard items:

• KUKA LWR 4+ manipulators
• Elmo servo controllers
• cameras: MS Kinect, BlackFly
• 6-axis force/torque sensors (ATI)
• BarrettHand grippers

It is implemented using popular open source libraries and frameworks:

• ROS 1
• Orocos
• Gazebo

and it is specified using formal languages:

• SysML, EARL
• Embodied Agent concept
• doxygen (Python API docs)