{'fraction_non_alphanumeric': 0.009416195856873822, 'fraction_numerical': 0.0, 'mean_word_length': 5.333333333333333, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Software abstractions for modeling robot mechanisms

In order to make robot software applications reusable across different robotic platform, there is the need to make software dependencies to the mechanical structure explicit. This means to define a common mechanism model that is used by every functional module to refer to the specific characteristics of the robot hardware. The aim of this paper is to illustrate the ANYMORPHOLOGY design pattern, which describes a set of software abstractions used to model robotic mechanisms.