logging in or signing up humanoid aksu Download Post to : URL : Related Presentations : Share Add to Flag Embed Email Send to Blogs and Networks Add to Channel Uploaded from authorPOINTLite Insert YouTube videos in PowerPont slides with aS Desktop Copy embed code: (To copy code, click on the text box) Embed: URL: Thumbnail: WordPress Embed Customize Embed The presentation is successfully added In Your Favorites. Views: 1305 Category: Entertainment License: All Rights Reserved Like it (0) Dislike it (0) Added: January 02, 2008 This Presentation is Public Favorites: 1 Presentation Description No description available. Comments Posting comment... By: gadagpraveen (20 month(s) ago) this is fully helpfull for me Saving..... Post Reply Close Saving..... Edit Comment Close Premium member Presentation Transcript 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 Motivation: MotivationWhy 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.Demo Videos: Demo VideosContributions: 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-endPrevious 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 robotsSystem Architecture: System Architecture System Overview Client/Server Structure Four Communication Modes Architecture - Specification Standard: Architecture - Specification Standard AbstractionArchitecture - System Overview: Architecture - System Overview Client/Server . . . Client Client Server Asimo Library Pioneer Library SimulatorArchitecture - Robotalk Server: Architecture - Robotalk Server Server Daemon Robot Daemon Read and Write TCP/IP sockets Issue Robot Driver Calls CClientConnection CClientConnection Provide: Buffering, Scheduling, Panic, etc. Class Interface . . . CRobotDriverArchitecture - CClientConnection: Architecture - CClientConnection CClientConnection Command Queue Return Queue Playback Queue Read Write Input commands Feedback Priority Queues Server Daemon Robot Daemon Architecture - CClient: Architecture - CClient Read Daemon Return cache CClient Class Class Interface Commands to the server. (Blocking/Nonblocking) Feedback (Nonblocking) Broadcast cache Function calls 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 feedbackDirect Mode: Direct ModeDelay Mode: Delay ModePlayback Mode: Playback ModeBroadcast Mode: Broadcast ModeConclusions: Conclusions Motivations System Structure Four Network Command Modes Future Extensions Exclusive control Data channels Controlling multiple humanoid robots Virtual humanoid robotsVirtual Humanoid: Virtual Humanoid Server Pioneer Library Camera Library Puma Library Site A Site B Virtual HumanoidThank 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/ You do not have the permission to view this presentation. In order to view it, please contact the author of the presentation.
humanoid aksu Download Post to : URL : Related Presentations : Share Add to Flag Embed Email Send to Blogs and Networks Add to Channel Uploaded from authorPOINTLite Insert YouTube videos in PowerPont slides with aS Desktop Copy embed code: (To copy code, click on the text box) Embed: URL: Thumbnail: WordPress Embed Customize Embed The presentation is successfully added In Your Favorites. Views: 1305 Category: Entertainment License: All Rights Reserved Like it (0) Dislike it (0) Added: January 02, 2008 This Presentation is Public Favorites: 1 Presentation Description No description available. Comments Posting comment... By: gadagpraveen (20 month(s) ago) this is fully helpfull for me Saving..... Post Reply Close Saving..... Edit Comment Close Premium member Presentation Transcript 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 Motivation: MotivationWhy 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.Demo Videos: Demo VideosContributions: 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-endPrevious 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 robotsSystem Architecture: System Architecture System Overview Client/Server Structure Four Communication Modes Architecture - Specification Standard: Architecture - Specification Standard AbstractionArchitecture - System Overview: Architecture - System Overview Client/Server . . . Client Client Server Asimo Library Pioneer Library SimulatorArchitecture - Robotalk Server: Architecture - Robotalk Server Server Daemon Robot Daemon Read and Write TCP/IP sockets Issue Robot Driver Calls CClientConnection CClientConnection Provide: Buffering, Scheduling, Panic, etc. Class Interface . . . CRobotDriverArchitecture - CClientConnection: Architecture - CClientConnection CClientConnection Command Queue Return Queue Playback Queue Read Write Input commands Feedback Priority Queues Server Daemon Robot Daemon Architecture - CClient: Architecture - CClient Read Daemon Return cache CClient Class Class Interface Commands to the server. (Blocking/Nonblocking) Feedback (Nonblocking) Broadcast cache Function calls 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 feedbackDirect Mode: Direct ModeDelay Mode: Delay ModePlayback Mode: Playback ModeBroadcast Mode: Broadcast ModeConclusions: Conclusions Motivations System Structure Four Network Command Modes Future Extensions Exclusive control Data channels Controlling multiple humanoid robots Virtual humanoid robotsVirtual Humanoid: Virtual Humanoid Server Pioneer Library Camera Library Puma Library Site A Site B Virtual HumanoidThank 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/