Office Robot System

A method for supporting distributed execution of robot system software instructions on a robot and a computing cluster, the method comprising the steps, executed in a processor of the robot, of:

• collecting performance data, the performance data including bandwidth and latency of communications between the processor and the computing cluster;
• executing a subset of the robot system software instructions retrieved from the computing cluster based on the performance data, wherein the computing cluster is to execute a complementary subset of the robot system software instructions;
• synchronizing a clock of the robot to a clock of the computing cluster;
• and
• sending data obtained from executing the subset of the robot system software instructions, the data being time-stamped according to the clock of the robot, the data being inputs to the complementary subset of the robot system software instructions.

A method for supporting distributed execution of robot system software instructions on a robot and a computing cluster, the robot being controlled by a tele-operator, the method comprising the steps, executed in a processor of the robot, of:

• collecting performance data, the performance data including bandwidth and latency of communications between the processor and a computer of the tele-operator;
• executing a subset of the robot system software instructions retrieved from the computing cluster based on the performance data, wherein the computing cluster is to execute a complementary subset of the robot system software instructions;
• and
• adjusting actuation rates of actuators on the robot based on the performance data.