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FRAMEWORK AND METHOD FOR CONTROLLING A ROBOTIC SYSTEM USING A DISTRIBUTED COMPUTER NETWORK

  • US 20110071672A1
  • Filed: 09/22/2009
  • Published: 03/24/2011
  • Est. Priority Date: 09/22/2009
  • Status: Active Grant
First Claim
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1. A robotic system operable for performing an autonomous task, the robotic system comprising:

  • a humanoid robot having a plurality of integrated system components, including a plurality of compliant robotic joints, actuators adapted for moving the robotic joints, and sensors adapted for measuring control and feedback data at a plurality of control points of the integrated system components; and

    a multi-level distributed control framework (DCF) adapted for controlling the integrated system components over multiple high-speed communication networks, the DCF including;

    a plurality of first controllers each configured for processing and controlling the control and feedback data within at least one of the integrated system components;

    a second controller adapted for coordinating the functionality of the integrated system components via communication with the plurality of first controllers; and

    a third controller adapted for transmitting a signal commanding performance of the autonomous task to the second controller;

    wherein the DCF centralizes and abstracts the control and feedback data in a single logical location to facilitate control of the humanoid robot across the multiple high-speed communication networks.

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