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About Premise

Premise started out as a framework for plan representation, execution, and monitoring, for robots in human environments interacting with people. Rather quickly the focus shifted to include networking and process abstraction aspects.

The Premise software is being developed at the Robotics Lab for the project Whole-Body Task-Oriented Motion Planning for Human-Centered Robotics funded by the National Science Foundation SNF under a Fellowship for Advanced researchers. This project aims to develop a system that plans, executes and supervises motions for mobile manipulators and humanoid robots that perform contact-based interaction with untrained humans. The system will simultaneously consider the motions of all limbs, allow for the inclusion of compliant behavior through impedance control, and adapt to changes in the environment while a plan is being executed. The project summary has some more information about the research itself.

Contact

For questions and comments about the code, the project, the Website etc, please contact the Premise development list premise-devel AT lists DOT sourceforge DOT net.

Subprojects

Terms of Use

  • Most code so far is Copyright (c) 2007-2009 Roland Philippsen <roland DOT philippsen AT gmx DOT net>
  • Developed in collaboration with the Stanford Artificial Intelligence Lab http://ai.stanford.edu/groups/manips/
  • Premise is distributed under a BSD-style license.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

  1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
  2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
  3. Neither the name of the copyright holder nor the names of contributors to this software may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE AUTHORS AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR THE CONTRIBUTORS TO THIS SOFTWARE BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Welcome to Trac 0.11.2.1

Trac is a minimalistic approach to web-based management of software projects. Its goal is to simplify effective tracking and handling of software issues, enhancements and overall progress.

All aspects of Trac have been designed with the single goal to help developers write great software while staying out of the way and imposing as little as possible on a team's established process and culture.

As all Wiki pages, this page is editable, this means that you can modify the contents of this page simply by using your web-browser. Simply click on the "Edit this page" link at the bottom of the page. WikiFormatting will give you a detailed description of available Wiki formatting commands.

TracGuide is a good place to start.

Enjoy!
The Trac Team

Starting Points

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