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In this article a software architecture for acquiring, processing and presenting distributed tactile information in real-time is discussed. When humanoid robots are endowed with large-scale tactile systems, the need arises to design a framework able to abstract from the underlying robot hardware structure. The article describes relevant functional requirements, architectural choices and specific technical solutions. Experiments show results with respect to a realistic use case, i.e., a humanoid robot fully covered with artificial skin. |
