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Title: Generic robot architecture

Patent ·
OSTI ID:1014650
 [1];  [1]
  1. Idaho Falls, ID
+ Show Author Affiliations

The present invention provides methods, computer readable media, and apparatuses for a generic robot architecture providing a framework that is easily portable to a variety of robot platforms and is configured to provide hardware abstractions, abstractions for generic robot attributes, environment abstractions, and robot behaviors. The generic robot architecture includes a hardware abstraction level and a robot abstraction level. The hardware abstraction level is configured for developing hardware abstractions that define, monitor, and control hardware modules available on a robot platform. The robot abstraction level is configured for defining robot attributes and provides a software framework for building robot behaviors from the robot attributes. Each of the robot attributes includes hardware information from at least one hardware abstraction. In addition, each robot attribute is configured to substantially isolate the robot behaviors from the at least one hardware abstraction.

Research Organization:
Idaho National Laboratory (INL), Idaho Falls, ID (United States)
Sponsoring Organization:
USDOE
DOE Contract Number:
AC07-05ID14517
Assignee:
Battelle Energy Alliance, LLC (Idaho Falls, ID)
Patent Number(s):
7,801,644
Application Number:
U S Patent Application 11/428,729
OSTI ID:
1014650
Country of Publication:
United States
Language:
English

References (11)

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Learning occupancy grids with forward models
  • Thrun, S.
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conference January 2001
Adaptable Web interfaces for networked robots conference January 2005
The Wayfarer modular navigation payload for intelligent robot infrastructure conference May 2005
The CLARAty architecture for robotic autonomy conference January 2001
A HAL for Component-Based Embedded Operating Systems conference January 2005
Developing an autonomy infusion infrastructure for robotic explorationi'l conference January 2004
Shared Understanding for Collaborative Control journal July 2005
Robot control in hard real-time environment conference January 1997
ETHNOS-II: A programming environment for distributed multiple robotic systems
  • Piaggio, M.; Sgorbissa, A.; Zaccaria, R.
  • HICSS 32 - 32nd Annual Hawaii International Conference on System Sciences, Proceedings of the 32nd Annual Hawaii International Conference on Systems Sciences. 1999. HICSS-32. Abstracts and CD-ROM of Full Papers https://doi.org/10.1109/HICSS.1999.772834
conference January 1999
Adaptable semi-autonomy in personal robots conference January 2001

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