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RoboTalk: a general robot control framework Can we access R2D2 & C3PO with the same control commands?. Allen Yang Yang University of Illinois at Urbana-Champaign. H. Gonzales-Banos, V. Ng-Thow-Hing, J. E. Davis Honda Research Institute, Mountain View, CA. Mobile Robot with Pan-Tilt Camera.

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robotalk a general robot control framework can we access r2d2 c3po with the same control commands

RoboTalk: a general robot control frameworkCan we access R2D2 & C3PO with the same control commands?

Allen Yang Yang

University of Illinois at Urbana-Champaign

H. Gonzales-Banos, V. Ng-Thow-Hing, J. E. Davis

Honda Research Institute, Mountain View, CA

motivation

Mobile Robot with Pan-Tilt Camera

Honda Asimo Humanoid Robot

Copyright Lucasfilm Ltd.

Motivation
why do we need a motion specification
Why do we need a motion specification?
  • Difficulties for researchers in robotics:
    • Industrial copyright
    • Programs are not re-usable in different robot families, even different versions of same robot families
    • Have to choose OS based on the drivers provided
    • Not easy to share a robot remotely with other collaborators in different locations

Motion Commands

Windows?

Linux?

Mac OS?

Embedded OS?

project goals
Project goals
  • Whatever: (cross-model)
    • Provide a network-enabled interface for Asimo which is independent of the controller libraries
    • Access to other robots & simulators: Pioneer, Puma
  • Whoever: (cross-platform)
    • User interface must be cross-platform: support Unix, Linux, Mac OS X and Windows.
  • Wherever: (cross-network)
    • Good quality of service across the Internet.
contributions
Contributions
  • A robot specification standard
  • One command interface
  • Four command modes between client and server:
    • Direct
    • Delay
    • Playback
    • Broadcast
  • Easy-to-change robot driver implementation on the server-end
previous work
Previous Work
  • Player[R. Gerkey and A. Howard, 2003]
  • Open Architecture Humanoid Robotics Platform (HRP)

[F. Kanehiro, et al., 2004]

  • Open Pino Project [F. Yamasaki, et al., 2000]
  • OROCOS [http://www.orocos.org/]
  • Dedicated systems
    • ARIA [robots.activmedia.com/ARIA/]
    • Robonaut [H. Aldridge, et al., 2000]
    • Athena [J. Biesiadecki, et al., 2001]
why not others
Why not others?
  • Do not support humanoid robots
  • Hard to change driver implementation
  • Do not have network quality support
  • Do not have protection mechanism for exotic robots
system architecture
System Architecture
  • System Overview
  • Client/Server Structure
  • Four Communication Modes
architecture specification standard

Configuration Spec

Command Spec

Communication Spec

Architecture - Specification Standard

Abstraction

architecture system overview

Configuration Spec

Command Spec

Communication Spec

Architecture - System Overview

Asimo Library

Pioneer Library

Client

.

.

.

Server

Client/Server

Simulator

Client

architecture robotalk server
Architecture - Robotalk Server

Server Daemon

Provide: Buffering, Scheduling, Panic, etc.

Read and Write TCP/IP sockets

CClientConnection

.

.

.

CClientConnection

Issue Robot Driver Calls

Class

Interface

Robot Daemon

CRobotDriver

architecture cclientconnection
Architecture - CClientConnection

Server Daemon

CClientConnection

Input commands

Robot

Daemon

Command Queue

Read

Playback Queue

Feedback

Write

Return Queue

Priority Queues

architecture cclient
Architecture - CClient

Function

calls

CClient Class

Commands to the server.

(Blocking/Nonblocking)

Class

Interface

Broadcast

cache

Return cache

Feedback

(Nonblocking)

Read Daemon

architecture communication modes
Architecture - Communication Modes
  • Direct mode:

blocking & instantaneous, for debug purposes

  • Delay mode:

nonblocking, instantaneous or delay

  • Playback mode:

nonblocking, adaptive caching based on channel quality

  • Broadcast mode:

periodic query feedback

direct mode

Client

Server

Sync system clock

Clock

Function call

Client

Command Cache

Robot

Daemon

return

Cache

Return Cache

Direct Mode
delay mode

Client

Server

Sync system clock

+

Clock

Delay

Function call

Client

Command Cache

Robot

Daemon

return

error signal

Cache

Return Cache

Delay Mode
playback mode

Length of the sequence

Command Cache

Robot

Daemon

Client

Server

Clock

Delay

Function call

Client

Playback Cache

return

error signal

Cache

Return Cache

Playback Mode
broadcast mode

Delay

Broadcast

call

Client

Command Cache

Robot

Daemon

return

data

Cache

Return Cache

Broadcast Mode
conclusions
Conclusions
  • Motivations
  • System Structure
  • Four Network Command Modes
  • Future Extensions
    • Exclusive control
    • Data channels
    • Controlling multiple humanoid robots
    • Virtual humanoid robots
virtual humanoid
Virtual Humanoid

Pioneer Library

Site A

Camera Library

Site B

Server

Puma Library

Virtual Humanoid

thank you
Thank you!

Allen Yang: yangyang@uiuc.edu

Hector Gonzales-Banos: hhg@honda-ri.com

Victor Ng-Thow-Hing: vng@honda-ri.com

All videos available online: perception.csl.uiuc.edu/RoboTalk/