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

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 1 / 28

Motivation 2 / 28

Introduction Figure: 16-DOF Lola-OP TM , Modular Snake Robot http://www.km-robota.com http://www.robotsource.org 3 / 28

Introduction, Current Gait Control Parameterized gaits � n  � O o + A o Sin + ω o t , n odd    λ o � n θ ( n , t ) = (1) � O e + A e Sin + ω e t + δ , n even   λ e  Scripted Gaits. 4 / 28

Framework Architecture Information Flow Framework Architecture, Information Flow High Controller Plotting Log level task Protocol Converter Message Passing input Animation FK DAQ Virtual Environment Plotting Tool Forward Forward Kinematics Kinematics Control Interfaces User V. Robot Robot Input Prop. V. Prop. Parameterized Sensors Table Control Sensors Scripted Look-Up Exo. V. Exo. Protocol Sensors Sensors Selector Figure: Simulation and Control Framework Architecture. 5 / 28

Framework Architecture Information Flow Framework Architecture, Model-View-Controller View Model Controller Figure: Model-View-Controller Architecture. 6 / 28

Framework Architecture Information Flow Framework Architecture, Information Flow High Controller Plotting Log level task Protocol Converter Message Passing input Animation FK DAQ Virtual Environment Plotting Tool Forward Forward Kinematics Kinematics Control Interfaces User V. Robot Robot Input Prop. V. Prop. Parameterized Sensors Table Control Sensors Scripted Look-Up Exo. V. Exo. Protocol Sensors Sensors Selector Figure: Simulation and Control Framework Architecture. 7 / 28

Framework Architecture Information Flow Information Flow - Open Loop Robot Test High Controller Plotting Log level task Protocol Converter Message Passing input Animation FK DAQ Virtual Environment Plotting Tool Forward Forward Kinematics Kinematics Control Interfaces User V. Robot Robot Input Prop. V. Prop. Parameterized Sensors Table Control Sensors Scripted Look-Up Exo. V. Exo. Protocol Sensors Sensors Selector Figure: Open Loop Test. 8 / 28

Framework Architecture Information Flow Information Flow - Open Loop Simulation Run High Controller Plotting Log level task Protocol Converter Message Passing input Animation FK DAQ Virtual Environment Plotting Tool Forward Forward Kinematics Kinematics Control Interfaces User V. Robot Robot Input Prop. V. Prop. Parameterized Sensors Table Control Sensors Scripted Look-Up Exo. V. Exo. Protocol Sensors Sensors Selector Figure: Open Loop Simulation Run. 9 / 28

Framework Architecture Information Flow Information Flow - Closed Loop Experiment High Controller Plotting Log level task Protocol Converter Message Passing input Animation FK DAQ Virtual Environment Plotting Tool Forward Forward Kinematics Kinematics Control Interfaces User V. Robot Robot Input Prop. V. Prop. Parameterized Sensors Table Control Sensors Scripted Look-Up Exo. V. Exo. Protocol Sensors Sensors Selector Figure: Closed Loop Experiment. 10 / 28

Framework Architecture Forward Kinematics Plotting Tool Forward Kinematics Plotting Tool High Controller Plotting Log level task Protocol Converter Message Passing input Animation FK DAQ Virtual Environment Plotting Tool Forward Forward Kinematics Kinematics Control Interfaces User V. Robot Robot Input Prop. V. Prop. Parameterized Sensors Table Control Sensors Scripted Look-Up Exo. V. Exo. Protocol Sensors Sensors Selector Figure: Forward Kinematics Plotting Tool 11 / 28

Framework Architecture Forward Kinematics Plotting Tool Forward Kinematics Plotting Tool Figure: Forward Kinematics Plotting Tool examples. 12 / 28

Framework Architecture Forward Kinematics Plotting Tool Forward Kinematics Plotting Tool Figure: Forward Kinematics Plotting Tool examples. 13 / 28

Framework Architecture Forward Kinematics Plotting Tool Forward Kinematics Plotting Tool Figure: Forward Kinematics Plotting Tool examples. 14 / 28

Framework Architecture Message Passing Protocol Converter Message Passing Protocol Converter High Controller Plotting Log level task Protocol Converter Message Passing input Animation FK DAQ Virtual Environment Plotting Tool Forward Forward Kinematics Kinematics Control Interfaces User V. Robot Robot Input Prop. V. Prop. Parameterized Sensors Table Control Sensors Scripted Look-Up Exo. V. Exo. Protocol Sensors Sensors Selector Figure: Message Passing Protocol Converter 15 / 28

Framework Architecture Message Passing Protocol Converter Message Passing Protocol Converter Lola-OP High Simulator Controller Log Plotting level task Protocol Converter Message Passing input FK DAQ Plotting Tool Control Interfaces User Input Parameterized Table Control Scripted Look-Up CMU Protocol Uncle Selector Sam NTNU Lola-OP TM KulKo Kulebra-OP TM KM-RoBoT a s.a.s. Figure: Message Passing Protocol Converter 16 / 28

Framework Architecture Log File and Real-Time Plotting Log File and Real-Time Plotting High Controller Plotting Log level task Protocol Converter Message Passing input Animation FK DAQ Virtual Environment Plotting Tool Forward Forward Kinematics Kinematics Control Interfaces User V. Robot Robot Input Prop. V. Prop. Parameterized Sensors Table Control Sensors Scripted Look-Up Exo. V. Exo. Protocol Sensors Sensors Selector Figure: Message Passing Protocol Converter 17 / 28

Framework Architecture Log File and Real-Time Plotting Log File and Real-Time Plotting Kde-KST High Controller Plotting Log level task Protocol Converter Message Passing input Animation FK DAQ Virtual Environment Plotting Tool Forward Forward Kinematics Kinematics User Control Interfaces V. Robot Robot Input Prop. V. Prop. Parameterized Table Control Sensors Sensors Scripted Look-Up Exo. V. Exo. Protocol Sensors Sensors Selector Figure: Message Passing Protocol Converter 18 / 28

Control Interfaces Control Interfaces Scripted Gaits Front End Parameterized Gaits Front End High Level Controller 19 / 28

Control Interfaces Scripted Gaits Front-end Control Interfaces - Scripted Gaits Front-end Figure: Scripted Gaits Front-end. 20 / 28

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 ... 22 / 28

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) 23 / 28

Physics Simulator Physics Simulator Examples 24 / 28

Framework Integration Error Handling Framework Integration Error Handling... Three sources of error Invalid Data Input Communication Failure Unbounded control signal 25 / 28

Framework Integration Controller and High Level Task Input Controller and High Level Task Input Add/Remove components � Cortex-A8 TM processors on Embedded on-board, Tested on TI ARM R Gumstix Overo R � boards ( https://www.gumstix.com/ ) and Atmel ATMega2561 processor on Dynamixel CM-700 controller ( http://support.robotis.com/ ). 26 / 28

Conclusions Conclusions 27 / 28

Conclusions Questions? Thank you! 28 / 28