open modular snake robot software...
TRANSCRIPT
Open Modular Snake Robot Software Architecture
Juan Leon, Jose Monsalve, Alvaro di Zeo, Laura Paez and Kamilo Melo{juan.leon,laura.paez,kamilo.melo}@km-robota.com
KM-ROBOTA Research Group, KM-ROBOTA S.A.S.Bogota - Colombia
www.km-robota.com.
ICRA2013, SDIR 8 workshop - Karlsruhe, Germany
May 6, 2013
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Motivation
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Introduction
Figure: 16-DOF Lola-OPTM, Modular Snake Robot
http://www.km-robota.comhttp://www.robotsource.org
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Introduction, Current Gait Control
Parameterized gaits
θ(n, t) =
Oo + AoSin
(n
λo+ ωot
), n odd
Oe + AeSin
(n
λe+ ωet + δ
), n even
(1)
Scripted Gaits.
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Framework Architecture Information Flow
Framework Architecture, Information Flow
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V. Exo. Sensors
V. R
obot
ForwardKinematics
V. Prop.Sensors
Exo. Sensors
Rob
ot
ForwardKinematics
Prop.Sensors
DAQ
Plotting
User Input
High leveltaskinput
Controller Log
ProtocolSelector
Mes
sage
Pas
sing
Pro
toco
l Con
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Par
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eter
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Scr
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d
Look
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Tabl
e C
ont
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Control Interfaces
FKPlotting
Tool
Animation
Figure: Simulation and Control Framework Architecture.
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Framework Architecture Information Flow
Framework Architecture, Model-View-Controller
Model
View
Controller
Figure: Model-View-Controller Architecture.
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Framework Architecture Information Flow
Framework Architecture, Information Flow
Virt
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nviro
nmen
t
V. Exo. Sensors
V. R
obot
ForwardKinematics
V. Prop.Sensors
Exo. Sensors
Rob
ot
ForwardKinematics
Prop.Sensors
DAQ
Plotting
User Input
High leveltaskinput
Controller Log
ProtocolSelector
Mes
sage
Pas
sing
Pro
toco
l Con
vert
er
Par
am
eter
ized
Scr
ipte
d
Look
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Tabl
e C
ont
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Control Interfaces
FKPlotting
Tool
Animation
Figure: Simulation and Control Framework Architecture.
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Framework Architecture Information Flow
Information Flow - Open Loop Robot Test
Virt
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nviro
nmen
t
V. Exo. Sensors
V. R
obot
ForwardKinematics
V. Prop.Sensors
Exo. Sensors
Rob
ot
ForwardKinematics
Prop.Sensors
DAQ
Plotting
User Input
High leveltaskinput
Controller Log
ProtocolSelector
Mes
sage
Pas
sing
Pro
toco
l Con
vert
er
Par
am
eter
ized
Scr
ipte
d
Look
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Tabl
e C
ont
rol
Control Interfaces
FKPlotting
Tool
Animation
Figure: Open Loop Test.
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Framework Architecture Information Flow
Information Flow - Open Loop Simulation Run
Virt
ual E
nviro
nmen
t
V. Exo. Sensors
V. R
obot
ForwardKinematics
V. Prop.Sensors
Exo. Sensors
Rob
ot
ForwardKinematics
Prop.Sensors
DAQ
Plotting
User Input
High leveltaskinput
Controller Log
ProtocolSelector
Mes
sage
Pas
sing
Pro
toco
l Con
vert
er
Par
am
eter
ized
Scr
ipte
d
Look
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Tabl
e C
ont
rol
Control Interfaces
FKPlotting
Tool
Animation
Figure: Open Loop Simulation Run.
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Framework Architecture Information Flow
Information Flow - Closed Loop Experiment
Virt
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nviro
nmen
t
V. Exo. Sensors
V. R
obot
ForwardKinematics
V. Prop.Sensors
Exo. Sensors
Rob
ot
ForwardKinematics
Prop.Sensors
DAQ
Plotting
User Input
High leveltaskinput
Controller Log
ProtocolSelector
Mes
sage
Pas
sing
Pro
toco
l Con
vert
er
Par
am
eter
ized
Scr
ipte
d
Look
-Up
Tabl
e C
ont
rol
Control Interfaces
FKPlotting
Tool
Animation
Figure: Closed Loop Experiment.
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Framework Architecture Forward Kinematics Plotting Tool
Forward Kinematics Plotting Tool
Virt
ual E
nviro
nmen
t
V. Exo. Sensors
V. R
obot
ForwardKinematics
V. Prop.Sensors
Exo. Sensors
Rob
ot
ForwardKinematics
Prop.Sensors
DAQ
Plotting
User Input
High leveltaskinput
Controller Log
ProtocolSelector
Mes
sage
Pas
sing
Pro
toco
l Con
vert
er
Par
am
eter
ized
Scr
ipte
d
Look
-Up
Tabl
e C
ont
rol
Control Interfaces
FKPlotting
Tool
Animation
Figure: Forward Kinematics Plotting Tool
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Framework Architecture Forward Kinematics Plotting Tool
Forward Kinematics Plotting Tool
Figure: Forward Kinematics Plotting Tool examples.
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Framework Architecture Forward Kinematics Plotting Tool
Forward Kinematics Plotting Tool
Figure: Forward Kinematics Plotting Tool examples.
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Framework Architecture Forward Kinematics Plotting Tool
Forward Kinematics Plotting Tool
Figure: Forward Kinematics Plotting Tool examples.
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Framework Architecture Message Passing Protocol Converter
Message Passing Protocol Converter
Virt
ual E
nviro
nmen
t
V. Exo. Sensors
V. R
obot
ForwardKinematics
V. Prop.Sensors
Exo. Sensors
Rob
ot
ForwardKinematics
Prop.Sensors
DAQ
Plotting
User Input
High leveltaskinput
Controller Log
ProtocolSelector
Mes
sage
Pas
sing
Pro
toco
l Con
vert
er
Par
am
eter
ized
Scr
ipte
d
Look
-Up
Tabl
e C
ont
rol
Control Interfaces
FKPlotting
Tool
Animation
Figure: Message Passing Protocol Converter
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Framework Architecture Message Passing Protocol Converter
Message Passing Protocol Converter
DAQ
Plotting
User Input
High leveltaskinput
Controller Log
ProtocolSelector
Mes
sage
Pas
sing
Pro
toco
l Con
vert
er
Par
am
eter
ized
Scr
ipte
d
Look
-Up
Tabl
e C
ont
rol
Control Interfaces
FKPlotting
Tool
Lola-OPTM
Kulebra-OPTM
NTNUKulKo
CMUUncle Sam
Lola-OP Simulator
KM-RoBoTa s.a.s.
Figure: Message Passing Protocol Converter16 / 28
Framework Architecture Log File and Real-Time Plotting
Log File and Real-Time Plotting
Virt
ual E
nviro
nmen
t
V. Exo. Sensors
V. R
obot
ForwardKinematics
V. Prop.Sensors
Exo. Sensors
Rob
ot
ForwardKinematics
Prop.Sensors
DAQ
Plotting
User Input
High leveltaskinput
Controller Log
ProtocolSelector
Mes
sage
Pas
sing
Pro
toco
l Con
vert
er
Par
am
eter
ized
Scr
ipte
d
Look
-Up
Tabl
e C
ont
rol
Control Interfaces
FKPlotting
Tool
Animation
Figure: Message Passing Protocol Converter
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Framework Architecture Log File and Real-Time Plotting
Log File and Real-Time Plotting
Virt
ual E
nviro
nmen
t
V. Exo. Sensors
V. R
obot
ForwardKinematics
V. Prop.Sensors
Exo. Sensors
Rob
ot
ForwardKinematics
Prop.Sensors
DAQ
Plotting
User Input
High leveltaskinput
Controller Log
ProtocolSelector
Mes
sage
Pas
sing
Pro
toco
l Con
vert
er
Par
am
eter
ized
Scr
ipte
d
Look
-Up
Tabl
e C
ont
rol
Control Interfaces
FKPlotting
Tool
Animation
Kde-KST
Figure: Message Passing Protocol Converter
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Control Interfaces
Control Interfaces
Scripted Gaits Front End
Parameterized Gaits Front End
High Level Controller
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Control Interfaces Scripted Gaits Front-end
Control Interfaces - Scripted Gaits Front-end
Figure: Scripted Gaits Front-end.
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Control Interfaces Parameterized Gaits Front-end
Control Interfaces - Parameterized Gaits Front-end
Figure: Scripted Gaits Front-end.21 / 28
Control Interfaces High Level Controller
Control Interfaces - High Level Controller
Log file
Ready to be used ...
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Physics Simulator
Physics Simulator
Physics simulator structure of classes
Simulator Control (process pipeline)
Physics Processor (solves the interaction)
Snake Container (joints+actuators)
Graphics Processor (visual rep)
Data Processor (input/output)
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Physics Simulator
Physics Simulator Examples
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Framework Integration Error Handling
Framework Integration
Error Handling...Three sources of error
Invalid Data Input
Communication Failure
Unbounded control signal
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Framework Integration Controller and High Level Task Input
Controller and High Level Task Input
Add/Remove components
Embedded on-board, Tested on TI ARM R©Cortex-A8TMprocessors onGumstix Overo R©boards (https://www.gumstix.com/) and AtmelATMega2561 processor on Dynamixel CM-700 controller(http://support.robotis.com/).
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Conclusions
Conclusions
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Conclusions
Questions?
Thank you!
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