HRIM - The Hardware Robot Information Model

Hardware Robot Information Model
"A common interface for robot modules"

Information model

What is HRIM?

HRIM is a common interface that facilitates interoperability among different vendors of robot hardware components with the purpose of building robot modules and thereby, modular robots.


HRIM facilitates exchangeability among different vendors of robot hardware components with the purpose of building modular robots.

Modular robots

HRIM tackles the problem of incompatibility between robot components that hinder the reconfigurability and flexibility demanded by the robotics industry.


Create a modular interface collaboratively including the opinion of experts in the field, hardware manufacturers.

Solid infrastructure

We are working actively with standardization organizations like ISO and OMG.

Funded by EU through the ROSin project

HRIM is backed by the EU H2020 ROSIN project through the so-called Focused Technical Projects (FTPs). The opinions expressed on this website reflect only the author‘s view and reflects in no way the European Commission‘s opinions. The European Commission is not responsible for any use that may be made of the information it contains.

Work in progress, pre-releases

The versioning system of HRIM follows the Semantic Versioning 2.0.0. Besides the version, each pre-release or release has a codename associated with it which corresponds with an alphabetic list of selected natural resources in the Basque Country.

Codename Version Implementation middleware Download
Anboto 0.1.0 ROS 2 download
Beriain 0.2.0 ROS 2 download
Coliza 0.3.0 ROS 2 download

If you'd like to cite this work, please use the following BibTex entry:

  title={An information model for modular robots: the Hardware Robot Information Model (HRIM)},
  author={Zamalloa, Irati and Muguruza, Iñigo and Hernández, Alejandro and Kojcev, Risto and Mayoral, Víctor},
  journal={arXiv preprint arXiv:1802.01459},

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information:

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287. Project code: A-5890807546