robot bus

The solution that makes different manufacturer's robotic hardware compatible. An arrangement of hardware, software and physical channel to allow the real-time transfer of data between robots and robot components in a secure and safe manner.

H-ROS ecosystem members:


Hardware Robot Operating System

The robot bus delivers determinism, synchronization, security and safety to robot communications allowing to build interoperable robot modules for real plug + play and extensible robots.


Deployment of H-ROS.
The SoM

Robot hardware is made interoperable by deploying H-ROS in each robot component through a tiny device called SoM.

Features of the H-ROS robot bus


H-ROS facilitates a common interface (HRIM) that enables communication among different robot modules, regardless of the manufacturer.


Extend robot modules and add additional functionality using our API powered by ROS 2.


H-ROS empowered modules are recognized automatically, dynamically. This allows to build robots that adapt and change depending on the available hardware.


H-ROS enables distributed sub-microsecond clock synchronization accuracy. Allowing accurate motion control coordination and accurate sensor data acquisition timestamping.

Real time

Powered by a hybrid architecture and featuring Linux, the H-ROS SoM delivers a deterministic real-time operating system.

Network resilient

The H-ROS robot bus enables robot applications to operate predictably in the presence of network congestion while fulfilling their deadlines.

ROS 2 hardware

Purely distributed robot modules built with ROS 2. First class participants of the ROS 2 ecosystem.


An encrypted and assessed computing and communication environment. The H-ROS robot bus is designed with best security practices and exposed to continuous security audits.

Automatic updates (OTA)

H-ROS supports Over-The-Air updates on each robot part. The SoM keeps robots and robot modules updated, seamlessly.


Applying individual policy rules through the robot bus, the H-ROS SoM ensures that modules meet their specifications and don't compromise the network.


H-ROS allows for a variety of different redundant network architectures (daisy chain, line, ring, tree, etc) gaining reliability.


H-ROS enables the growth from individual modules to large robots filed with hundreds of them in multi-network setups.

Traffic shaping

Reserve bandwidth for high-priority traffic with the H-ROS robot bus while, at the same time, ensuring that best effort traffic will continue to flow.

Bandwidth allocation

H-ROS allows to dynamically estimate the available bandwidth in the network and empowers roboticists with its status.

Top Robotic Research

Our roboticists' know-how can be examined in the following papers

Time-Sensitive Networking for robotics

Many of the existing real-time industrial solutions will slowly be replaced by TSN. This will lead towards a unified landscape of physically interoperable robots and robot components. We discuss some of the TSN features relevant for deterministic communications and evaluate experimentally one of the shaping mechanisms –the time-aware shaper– in an exemplary robotic scenario.


Real-time Linux communications: an evaluation of the Linux

As robotics systems become more distributed, the communications between different robot parts play a key role for the reliability of the overall robot control. We evaluate the real-time performance of UDP based communications in Linux on multi- core embedded devices as test platforms.


Towards a distributed and real-time framework for robots: Evaluation of ROS 2.0 communications for real-time robotic applications

An evaluation of ROS 2.0 communications in a robotic inter-component (hardware) communication case on top of Linux. We demonstrate experimentally how computation and network congestion impacts the communication latencies and propose a setup that, under certain conditions, mitigates these delays and obtains bounded traffic.


Time Synchronization in modular collaborative robots

We propose a new sub-class of cobots named M-cobots and demonstrate how with them we are able to obtain distributed sub-microsecond clock synchronization accuracy among modules, timestamping accuracy of ROS 2.0 messages under 100 microseconds and millisecond-level end-to-end communication latencies.


The Hardware Robot Operating System (H-ROS); an infrastructure to create interoperable robot components

Having modular robot parts can considerably reduce the integration effort of building robots. We present a joint hardware and software infrastructure to create those vendor-agnostic and reconfigurable robot parts.