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Everything begins with the XML!
The Trossen Robotics system uses an XML configuration file in order to store each robot's unique information. Information such as the dimensions of leg sections, servo angle values, and controller serial numbers are stored in the XML file.

Multiple Robots - Same Code
Storing the information in this method allows for people to write code which is usable beyond just one specific robot. Take for example a research lab which has four of the same robot model where each one is being used on different terrains. Even though the model of the robot may be the same each version will have it's own unique values. For instance each motor controller will have it's own unique serial number and the servos themselves will have slightly different values for their 0, 90, and 180 degree positions. Storing information which fluctuates from robot to robot in an external XML file allows for code to be developed which works across multiple robots regardless of their unique differences.

The advantages don't stop at just sharing code between exact models of robots. The same concept is applied to robots which are similar, but not exactly the same. For example you could have two users which both have robotic arms of different sizes sharing code. One person could be in Japan with an 18 inch tall arm and the other person could be in Chicago with a 36 inch tall arm. These two developers would still be able to share code.

How can different size robots share code?
Simple, since the unique dimensions are stored for each persons robot the algorithms for operations such as walking or articulating an arm are "blind" to the robots size. The algorithms are "fed" the dimensions of the robot from the XML file and can perform their calculations for robots of varying sizes and configurations. No longer restricting people to rewrite basic robotics functions over and over again. To read more please view the Algorithm Library page.

Beautifully Simple
It's not a hard concept to grasp. Storing the robotic values in XML seems like a small step for robotics, but it's implications are far reaching. It opens the doors for a new model in robotic development. One which allows for students, hobbyists, and research labs to share their code and advancements with each other. For far too long robotics have been reinventing the robotic wheel over and over and over again. It's time we start standing upon each other's shoulders and advancing together as a worldwide community.