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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 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?

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  1. 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

  2. Mobile Robot with Pan-Tilt Camera Honda Asimo Humanoid Robot Copyright Lucasfilm Ltd. Motivation

  3. 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?

  4. 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.

  5. Demo Videos

  6. 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

  7. 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]

  8. 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

  9. System Architecture • System Overview • Client/Server Structure • Four Communication Modes

  10. Configuration Spec Command Spec Communication Spec Architecture - Specification Standard Abstraction

  11. Configuration Spec Command Spec Communication Spec Architecture - System Overview Asimo Library Pioneer Library Client . . . Server Client/Server Simulator Client

  12. 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

  13. Architecture - CClientConnection Server Daemon CClientConnection Input commands Robot Daemon Command Queue Read Playback Queue Feedback Write Return Queue Priority Queues

  14. Architecture - CClient Function calls CClient Class Commands to the server. (Blocking/Nonblocking) Class Interface Broadcast cache Return cache Feedback (Nonblocking) Read Daemon

  15. 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

  16. Client Server Sync system clock Clock Function call Client Command Cache Robot Daemon return Cache Return Cache Direct Mode

  17. Client Server Sync system clock + Clock Delay Function call Client Command Cache Robot Daemon return error signal Cache Return Cache Delay Mode

  18. 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

  19. Delay Broadcast call Client Command Cache Robot Daemon return data Cache Return Cache Broadcast Mode

  20. Conclusions • Motivations • System Structure • Four Network Command Modes • Future Extensions • Exclusive control • Data channels • Controlling multiple humanoid robots • Virtual humanoid robots

  21. Virtual Humanoid Pioneer Library Site A Camera Library Site B Server Puma Library Virtual Humanoid

  22. 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/

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