Open Modular Snake Robot Software Architecture Juan Leon, Jose - - PowerPoint PPT Presentation

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Open Modular Snake Robot Software Architecture Juan Leon, Jose - - PowerPoint PPT Presentation

Feb 29, 2024 144 likes •441 views

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

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SLIDE 1

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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SLIDE 2

Motivation

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SLIDE 3

Introduction

Figure: 16-DOF Lola-OPTM, Modular Snake Robot

http://www.km-robota.com http://www.robotsource.org

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SLIDE 4

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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SLIDE 5

Framework Architecture Information Flow

Framework Architecture, Information Flow

Virtual Environment

  • V. Exo.

Sensors

  • V. Robot

Forward Kinematics

  • V. Prop.

Sensors Exo. Sensors

Robot

Forward Kinematics Prop. Sensors

DAQ Plotting User Input High level task input Controller Log

Protocol Selector Message Passing Protocol Converter Parameterized Scripted

Look-Up Table Control

Control Interfaces

FK Plotting Tool

Animation

Figure: Simulation and Control Framework Architecture.

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SLIDE 6

Framework Architecture Information Flow

Framework Architecture, Model-View-Controller Model View Controller

Figure: Model-View-Controller Architecture.

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SLIDE 7

Framework Architecture Information Flow

Framework Architecture, Information Flow

Virtual Environment

  • V. Exo.

Sensors

  • V. Robot

Forward Kinematics

  • V. Prop.

Sensors Exo. Sensors

Robot

Forward Kinematics Prop. Sensors

DAQ Plotting User Input High level task input Controller Log

Protocol Selector Message Passing Protocol Converter Parameterized Scripted

Look-Up Table Control

Control Interfaces

FK Plotting Tool

Animation

Figure: Simulation and Control Framework Architecture.

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SLIDE 8

Framework Architecture Information Flow

Information Flow - Open Loop Robot Test

Virtual Environment

  • V. Exo.

Sensors

  • V. Robot

Forward Kinematics

  • V. Prop.

Sensors Exo. Sensors

Robot

Forward Kinematics Prop. Sensors

DAQ Plotting User Input High level task input Controller Log

Protocol Selector Message Passing Protocol Converter Parameterized Scripted

Look-Up Table Control

Control Interfaces

FK Plotting Tool

Animation

Figure: Open Loop Test.

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SLIDE 9

Framework Architecture Information Flow

Information Flow - Open Loop Simulation Run

Virtual Environment

  • V. Exo.

Sensors

  • V. Robot

Forward Kinematics

  • V. Prop.

Sensors Exo. Sensors

Robot

Forward Kinematics Prop. Sensors

DAQ Plotting User Input High level task input Controller Log

Protocol Selector Message Passing Protocol Converter Parameterized Scripted

Look-Up Table Control

Control Interfaces

FK Plotting Tool

Animation

Figure: Open Loop Simulation Run.

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SLIDE 10

Framework Architecture Information Flow

Information Flow - Closed Loop Experiment

Virtual Environment

  • V. Exo.

Sensors

  • V. Robot

Forward Kinematics

  • V. Prop.

Sensors Exo. Sensors

Robot

Forward Kinematics Prop. Sensors

DAQ Plotting User Input High level task input Controller Log

Protocol Selector Message Passing Protocol Converter Parameterized Scripted

Look-Up Table Control

Control Interfaces

FK Plotting Tool

Animation

Figure: Closed Loop Experiment.

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SLIDE 11

Framework Architecture Forward Kinematics Plotting Tool

Forward Kinematics Plotting Tool

Virtual Environment

  • V. Exo.

Sensors

  • V. Robot

Forward Kinematics

  • V. Prop.

Sensors Exo. Sensors

Robot

Forward Kinematics Prop. Sensors

DAQ Plotting User Input High level task input Controller Log

Protocol Selector Message Passing Protocol Converter Parameterized Scripted

Look-Up Table Control

Control Interfaces

FK Plotting Tool

Animation

Figure: Forward Kinematics Plotting Tool

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SLIDE 12

Framework Architecture Forward Kinematics Plotting Tool

Forward Kinematics Plotting Tool

Figure: Forward Kinematics Plotting Tool examples.

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SLIDE 13

Framework Architecture Forward Kinematics Plotting Tool

Forward Kinematics Plotting Tool

Figure: Forward Kinematics Plotting Tool examples.

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SLIDE 14

Framework Architecture Forward Kinematics Plotting Tool

Forward Kinematics Plotting Tool

Figure: Forward Kinematics Plotting Tool examples.

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SLIDE 15

Framework Architecture Message Passing Protocol Converter

Message Passing Protocol Converter

Virtual Environment

  • V. Exo.

Sensors

  • V. Robot

Forward Kinematics

  • V. Prop.

Sensors Exo. Sensors

Robot

Forward Kinematics Prop. Sensors

DAQ Plotting User Input High level task input Controller Log

Protocol Selector Message Passing Protocol Converter Parameterized Scripted

Look-Up Table Control

Control Interfaces

FK Plotting Tool

Animation

Figure: Message Passing Protocol Converter

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SLIDE 16

Framework Architecture Message Passing Protocol Converter

Message Passing Protocol Converter

DAQ Plotting User Input High level task input Controller Log

Protocol Selector Message Passing Protocol Converter Parameterized Scripted

Look-Up Table Control

Control Interfaces

FK Plotting Tool

Lola-OPTM Kulebra-OPTM NTNU KulKo CMU Uncle Sam Lola-OP Simulator

KM-RoBoT a s.a.s.

Figure: Message Passing Protocol Converter

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SLIDE 17

Framework Architecture Log File and Real-Time Plotting

Log File and Real-Time Plotting

Virtual Environment

  • V. Exo.

Sensors

  • V. Robot

Forward Kinematics

  • V. Prop.

Sensors Exo. Sensors

Robot

Forward Kinematics Prop. Sensors

DAQ Plotting User Input High level task input Controller Log

Protocol Selector Message Passing Protocol Converter Parameterized Scripted

Look-Up Table Control

Control Interfaces

FK Plotting Tool

Animation

Figure: Message Passing Protocol Converter

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SLIDE 18

Framework Architecture Log File and Real-Time Plotting

Log File and Real-Time Plotting

Virtual Environment

  • V. Exo.

Sensors

  • V. Robot

Forward Kinematics

  • V. Prop.

Sensors Exo. Sensors

Robot

Forward Kinematics Prop. Sensors

DAQ Plotting User Input High level task input Controller Log

Protocol Selector Message Passing Protocol Converter Parameterized Scripted

Look-Up Table Control

Control Interfaces

FK Plotting Tool

Animation

Kde-KST Figure: Message Passing Protocol Converter

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SLIDE 19

Control Interfaces

Control Interfaces

Scripted Gaits Front End Parameterized Gaits Front End High Level Controller

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SLIDE 20

Control Interfaces Scripted Gaits Front-end

Control Interfaces - Scripted Gaits Front-end

Figure: Scripted Gaits Front-end.

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SLIDE 21

Control Interfaces Parameterized Gaits Front-end

Control Interfaces - Parameterized Gaits Front-end

Figure: Scripted Gaits Front-end.

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SLIDE 22

Control Interfaces High Level Controller

Control Interfaces - High Level Controller

Log file Ready to be used ...

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SLIDE 23

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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SLIDE 24

Physics Simulator

Physics Simulator Examples

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SLIDE 25

Framework Integration Error Handling

Framework Integration

Error Handling... Three sources of error Invalid Data Input Communication Failure Unbounded control signal

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SLIDE 26

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 on Gumstix Overo R boards (https://www.gumstix.com/) and Atmel ATMega2561 processor on Dynamixel CM-700 controller (http://support.robotis.com/).

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SLIDE 27

Conclusions

Conclusions

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SLIDE 28

Conclusions

Questions?

Thank you!

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