US 6,889,118 B2Granted

Hardware abstraction layer for a robot

AssigneeEvolution Robotics, Inc.

InventorsThomas J. Murray, IV, Baoquoc N. Pham, Paolo Pirjanian

Life of this patent

Estimating the term…

Loading patent…

Abstract

Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hardware. The HAL provides a relatively uniform abstract for aggregates of underlying hardware such that the underlying robotic hardware is transparent to perception and control software, i.e., robot control software. This advantageously permits robot control software to be written in a robot-independent manner. Developers of robot control software are then freed from tedious lower level tasks. Portability is another advantage. For example, the HAL efficiently permits robot control software developed for one robot to be ported to another. In one example, the HAL permits the same navigation algorithm to be ported from a wheeled robot and used on a humanoid legged robot.

Claims8

Dependent claims

A method in a robot of providing hardware abstraction for robot control software, the method comprising:

providing a plurality of resource drivers for the robot, where the plurality of resource drivers includes resource drivers for which no corresponding hardware is present on the robot;
detecting a hardware configuration for the robot;
automatically detecting resources that are available on the robot based on the detected hardware configuration;
receiving a request from the robot control software to use a type of resource;
automatically selecting a resource from the available resources that corresponds to the type of resource requested by the robot control software;
exchanging a first information with the robot control software, where the first information is related to use of the selected resource and is provided in a unit of measure that is related to a robot;
exchanging a second information with a low-level device driver corresponding to the resource, where the second information is related to the use requested by the robot control software, where the second information is provided in a unit of measure that is related to a corresponding device, and where the second information is different than the first information;
and
converting between the first information and the second information based on the detected configuration of the robot.

6 more elements

Dependencies are inferred from the claim text.

Facts

Application: 10/307,199Filed 27 Nov 2002 · us provisional application
Priority: 28 Nov 2001
Published: US 2003/0171846 A111 Sep 2003
Granted: 3 May 2005
Term ends: Not estimatedThe source records don’t support an estimate.

Classification16 codes

G06N 3/008
Artificial life, i.e. computing arrangements simulating life: based on physical entities controlled by simulated intelligence so as to replicate…
B25J 9/161
Characterised by the control system, structure, architecture: hardware, e.g. neural networks, fuzzy logic, interfaces, processor
B25J 9/1661
Characterised by programming, planning systems for manipulators: characterised by task planning, object-oriented languages
B25J 9/1666
Characterised by motion, path, trajectory planning: avoiding collision or forbidden zones

Family

Application60/334,142Us provisional application · filed 28 Nov 2001
Application60/355,624Us provisional application · filed 8 Feb 2002
Application60/374,309Us provisional application · filed 19 Apr 2002
US 2003/0171846 A1Pre-grant publication · published 11 Sep 2003
US 6,889,118 B2This patent

From the US filing history. Foreign family members aren’t listed.