Workshop on software architectures and methodologies for developing humanoid robots.

14th IEEE-RAS International Conference on Humanoid Robots


During the Humanoids 2014 conference in Madrid Spain, PAL Robotics is organizing a half day workshop.

Date: November 18th, 2014, Madrid, Spain

General Scope

Humanoid robots are one of the most challenging subjects in robotics.

Software architectures and design methodologies have a critical impact on development effort and quality of robot control systems.

On human size biped robots many components must coexist and interact with each other to implement desired skills. Teams of people must work in an organized manner, working incrementally to achieve results.

How to design such systems is an important question of research in order to make progress in robotics and reduce the amount of time spent in software development, integration and maintenance.

There are several methodologies and frameworks that help facing this problem. The aim of this workshop if to bring together the relevant experts in the field that work on a daily basis with humanoid robots in order to share the experiences learned through the years, identify common problems and take a step towards a standard way to solve them.

Each of the invited speakers has their own robotic platform and framework, giving the opportunity for an active discussion of the proposed topic.

Main Topics:

  • Humanoid software development
  • Control architectures
  • Development tools
  • Methodologies
  • Debugging
  • Best practices, etc.

List of confirmed invited speakers:

Issues on software architecture to control humanoid robots
over multiple middlewares and multiple robots  PDF
Olivier Stasse
Group Gepetto

The Software Architecture for the Humanoid
Enrico Mingo
ADVR / Humanoids & Human Centred Mechatronics
Istituto Italiano di Tecnologia

Control and Middleware for Human Centered Robots  PDF
Luis Sentis
Depart. of Mechanical Engineering
The University of Texas at Austin

A Real-time Control and Simulation Core for various Robot Architectures PDF
Alexander Herzog, Stefan Schaal
Computational Learning & Motor control lab
University of Southern California

Software Development for Whole-body Tasks
for Humanoid at CNRS-AIST JRL  PDF
Eiichi Yoshida. Abderrahmane Kheddar

Development of Robot Software Framework PODO:
Toward Multi-Processes and Multi-Users  PDF
Jeongsoo Lim, Jungho Lee, Jun-Ho Oh
Department of Mechanical Engineering,

Managing humanoid software complexity and enhancing team
productivity through simulation, logging and visualization tools, and
software practices at IHMC  PDF
Jerry Pratt
Florida Institute for Human and Machine Cognition (IHMC)

How we deal with software complexity in robotics:
“links and nodes” and the “robotkernel”  PDF
Florian Schmidt, Robert Burger
Institute of Robotics and Mechatronics
German Aerospace Center (DLR)

Writing robot-­agnostic controllers for real robots  PDF
Hilario Tomé, Luca Marchionni, Adolfo Rodriguez Tsouroukdissian
PAL Robotics S.L.


Introduction 13:50 – 14:00
Olivier Stasse 14:00 – 14:25
Enrico Mingo 14:25 – 14:50
Luis Sentis 14:50 – 15:15
Florian Schmidt 15:15 – 15:40
Break 15:40 – 16:00
Eiichi Yoshida 16:00 – 16:25
Jeongsoo Lim 16:25 – 16:50
Jerry Pratt 16:50 – 17:15
Stefan Schaal 17:15 – 17:40
Hilario Tome 17.40 – 18.05
Live demostration REEM-C 18:05 – 18:30


Luca Marchionni
PAL Robotics,
+34 934 145 347

Hilario Tomé
PAL Robotics,
+34 934 145 347

The workshop will also include a live demonstration of the latest capabilities of PAL Robotics REEM-C robot.