Humanoid robotics is a complex and highly diverse field. Humanoid robots may have dozens of sensors and actuators that together realize complicated behaviors. Adding to the complexity is that each type of humanoid has unique application program interfaces, thus software written for one humanoid does not easily transport to others. This article introduces the transportable open-source application program interface and user interface for generic humanoids, a set of application program interfaces that simplifies the programming and operation of diverse humanoid robots. These application program interfaces allow for quick implementation of complex tasks and high-level controllers. Transportable open-source application program interface and user interface for generic humanoids has been developed for, and tested on, Boston Dynamics’ Atlas V5 and NASA’s Valkyrie R5 robots. It has proved successful for experiments on both robots in simulation and hardware, demonstrating the seamless integration of manipulation, perception, and task planning. To encourage the rapid adoption of transportable open-source application program interface and user interface for generic humanoids for education and research, the software is available as Docker images, which enable quick setup of multiuser simulation environments.

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通用人形机器人的可移植开源应用程序界面和用户界面：TOUGH

仿人机器人是一个复杂且高度多样化的领域。类人机器人可能有数十个传感器和执行器，共同实现复杂的行为。更复杂的是，每种人形都有独特的应用程序接口，因此为一个人形编写的软件不容易传输到其他人身上。本文介绍了通用人形机器人的可移动开源应用程序接口和用户界面，这是一组简化各种人形机器人编程和操作的应用程序接口。这些应用程序接口允许快速执行复杂的任务和高级控制器。通用人形机器人的可移植开源应用程序界面和用户界面已经开发并测试用于，波士顿动力公司的 Atlas V5 和 NASA 的 Valkyrie R5 机器人。它已被证明在模拟和硬件上的机器人实验中都取得了成功，展示了操纵、感知和任务规划的无缝集成。为了鼓励快速采用可移植的开源应用程序界面和用于教育和研究的通用人形机器人的用户界面，该软件可作为 Docker 映像使用，从而能够快速设置多用户模拟环境。