%0 Journal Article %A Herrero, Héctor %A Outón, Jose Luis %A Esnaola-Campos, Urko %A Sallé, Damien %A López de Ipiña, Karmele %T State Machine Based Architecture to Increase Flexibility of Dual-Arm Robot Programming %D 2015 * SPRINGER-VERLAG BERLIN, HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY %X This paper introduces a state machine based architecture with the aim of increasing flexibility of dual-arm robot programming. The proposed architecture allows absolute control of the execution, easing coordination of the arms if necessary. This work attempts to deal with dual-arm robotic programming challenges, providing a robust and reliable core which is able to interconnect different software modules where each one provides different capabilities. A pilot station is under development at Airbus Operations plant in Puerto Real, Spain. %@ 0302-9743 %K robotics %K finite state machines %K software architecture %K easy-programming %K dual-arm robot doi 10.1007/978-3-319-18833-1_11 %U http://hdl.handle.net/11556/255 %~ GOEDOC, SUB GOETTINGEN