RobotModel

RobotModel is a conceptual framework for describing robotic systems in a machine-readable form. It is used to capture both physical structure and behavioral capabilities of a robot, enabling simulation, planning, control, and interoperability among software components. While not tied to a single organization, RobotModel is often described in literature as a comprehensive schema that can be extended to accommodate various robot types.

A typical RobotModel includes a kinematic and dynamic description, listing links and joints, mass properties and inertias, sensor configurations, actuators, and control interfaces. It may also specify compatibility with middleware and data formats, such as simulation environments and planning engines. Extensibility through namespaces or plugins allows customization for industrial arms, mobile robots, or humanoids.

Serialization formats may include XML, JSON, or YAML to enable easy parsing and versioning. The model emphasizes modularity, enabling translators or adapters to map device-specific descriptions to a common representation. Validation rules and schemas help ensure consistency across environments.

RobotModel is used in simulation and planning pipelines, asset management, and hardware-in-the-loop testing. By providing a unified description, it reduces integration effort and supports reuse of software components across platforms. Limitations include the lack of universal adoption, potential for mismatched assumptions, and the overhead of maintaining detailed models. Related concepts include URDF and SDF.