%0 Journal Article
%T YARP: Yet Another Robot Platform
%A Giorgio Metta
%A Paul Fitzpatrick
%A Lorenzo Natale
%J International Journal of Advanced Robotic Systems
%D 2008
%I InTech
%X We describe YARP, Yet Another Robot Platform, an open-source project that encapsulates lessons from our experience in building humanoid robots. The goal of YARP is to minimize the effort devoted to infrastructure-level software development by facilitating code reuse, modularity and so maximize research-level development and collaboration. Humanoid robotics is a "bleeding edge" field of research, with constant flux in sensors, actuators, and processors. Code reuse and maintenance is therefore a significant challenge. We describe the main problems we faced and the solutions we adopted. In short, the main features of YARP include support for inter-process communication, image processing as well as a class hierarchy to ease code reuse across different hardware platforms. YARP is currently used and tested on Windows, Linux and QNX6 which are common operating systems used in robotics.
%K software platform
%K interprocess communication
%K humanoid robotics
%U http://www.intechopen.com/articles/show/title/yarp__yet_another_robot_platform