TDM: A software framework for elegant and rapid development of autonomous behaviors for humanoid robots

Through the use of module based software solutions, programming humanoid robots became simple in the sense that detailed knowledge of the underlying software and hardware layers became largely unnecessary. In this paper we argue that the current situation, while being satisfactory for most users, requires improvement for facing situations in which delivery of a complex autonomous behavior is part of the final target. In such case, implementing a dedicated behavior control architecture remains a complex task. In this paper we propose a behavior oriented software framework to be added above the existing modular architecture. This framework is based on centralized integration of sensory data, schematic representation of objects, resource management and intrinsic motivation. It supports code organization, favors code reuse and allows rapid obtention of behaviors that can be easiliy modified or extended. A version of the framework for Aldebaran Nao was developed and tested.