Ikaros is an open framework for system-level brain modeling and real-time robot control. Ikaros supports the design and implementation of large-scale computation models using a flow programming paradigm.
More than 100 persons contributed to the code base of earlier versions and over 100 scientific publications report on work that has used Ikaros for simulations or robot control.
Ikaros 2 is described in the article Ikaros: A framework for controlling robots with system-level brain models.
Version 3 is completely rewritten in modern C++ and includes a number of new features.
Up to date information is available in the wiki.
macOS, Linux, and Raspberry Pi build and installation instructions are also available in this repository.
- IKG model files
- IKC class files
- Expressions
- Parameter rules
- State files
- Asynchronous modules
- Command-line cheat sheet
- Kernel API
usage: ikaros [options] [variable=value] [filename]
Command line options:
-A (agent): set the agent identifier included in remote session logging
-B (bind_address): bind WebUI/API server to a specific IPv4 address, for example 127.0.0.1
-S (start): start-up automatically without waiting for commands from WebUI
-a (auth_password): enable optional WebUI/API authentication using the provided password
-b (batch_mode): start automatically and quit when execution terminates; no WebUI unless explicitly set with -w
-d (tick_duration): duration of each tick
-h (help): list command line options [true]
-i (info): print model info
-p (python_executable): default Python interpreter for python-backed classes
-r (real_time): run in real-time mode; also implies S
-s (stop): stop Ikaros after this tick [-1]
-t (threads): number of worker threads for the kernel thread pool
-u (user_data): alternative directory for user data files
-w (webui_port): port for ikaros WebUI [8000]
filename : ikg-file to load
All parameters can be set in the root element of the ikg-file as well.