Versatile robotic control module

• US 20070219666A1
• Filed: 10/20/2006
• Published: 09/20/2007
• Est. Priority Date: 10/21/2005
• Status: Active Grant

• Current Assignee: Deere & Company, iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Allard, James, Turner, Christopher, Keller, Scott, Norris, William, Filippov, Mikhail, Norby, Andrew, O'Connor, John, Schmaltz, Mark, Larsen, Kevin, Meuchel, Arlen, Fitch, Osa, Zendzian, David, De Roo, Chris, Fata, Nadim
• Granted Patent: US 9,043,016 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 60/0051 from occupants to vehicle
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• CPC Class Codes: B62D 1/286 Systems for interrupting non-mechanical steering due to driver intervention
• CPC Class Codes: G05B 19/414 Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0259 using magnetic or electromagnetic means
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: H04L 67/12 specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 : Optical

Abstract

Certain embodiments of the present invention provide robotic control modules for use in a robotic control system of a vehicle, including structures, systems and methods, that can provide (i) a robotic control module that has multiple functional circuits, such as a processor and accompanying circuits, an actuator controller, an actuator amplifier, a packet network switch, and a power supply integrated into a mountable and/or stackable package/housing; (ii) a robotic control module with the noted complement of circuits that is configured to reduce heat, reduce space, shield sensitive components from electromagnetic noise; (iii) a robotic control system utilizing robotic control modules that include the sufficiently interchangeable functionality allowing for interchangeability of modules; and (iv) a robotic control system that distributes the functionality and processing among a plurality of robotic control modules in a vehicle.

Claims

1. A robotic control module for use in a mobile robotic platform, comprising:

a mountable housing;

a processing module within the mountable housing having a processor and memory, wherein the processing module is capable of executing and arbitrating among robotic control behaviors;

a reprogrammable actuator controller capable of communication with the processing module, the reprogrammable actuator controller located within the mountable housing and capable of issuing actuator control signals based at least in part on the robotic control behaviors;

an actuator connector available on an exterior of the mountable housing, the actuator connector in communication with the reprogrammable actuator controller and capable of transmitting actuator control signals;

a packet network switch within the mountable housing; and

a network connector available on the exterior of the mountable housing capable of connection to a packet network and communicating with the packet network switch, wherein the processing module is capable of transmitting instructions to and from the packet network.

2. The robotic control module of claim 1, wherein the packet network is capable of transmitting and receiving signals between the robotic control module and a second robotic control module and between the robotic control module and a peripheral.

3. The robotic control module of claim 1, further comprising a power supply within the mountable housing, wherein the power supply is capable of receiving unregulated power from the mobile robotic platform through a power input to the mountable housing and converting the unregulated power into interior regulated power for the processor module, the packet network switch and the reprogrammable actuator controller and into exterior regulated power;

and a power supply connector on the exterior of the mountable housing capable of connection to the exterior regulated power.

4. The robotic control module of claim 1, further comprising an actuator amplifier within the mountable housing capable of amplifying the actuator control signal from the reprogrammable actuator controller.

5. The robotic control module of claim 1, wherein the processor module further comprises at least one protocol transceiver and is capable of executing transceiver monitoring code.

6. A robotic control module for use in a mobile robotic platform, comprising:

a mountable housing;

a processing module within the mountable housing capable of executing and arbitrating among robotic control behaviors and having a processor and memory, the memory comprising transceiver monitoring code, the processing module comprising at least one protocol transceiver capable of executing transceiver monitoring code;

a packet network switch within the mountable housing;

a protocol transceiver connector available on the exterior of the mountable housing capable of communicating with the plurality of protocol transceivers sensors;

a network connector available on the exterior of the mountable housing capable of connection to a packet network and communicating with the packet network switch, wherein the processing module is capable of transmitting instructions to and from the packet network; and

a power supply within the mountable housing;

the power supply receiving power from the mobile robotic platform through a power input to the mountable housing and converting the power into interior power.

7. The robotic control module of claim 6, further comprising a power supply connector on the exterior of the mountable housing capable of connection to an exterior regulated power;

and

wherein the power supply is capable of receiving unregulated power from the mobile robotic platform through a power input to the mountable housing and converting the unregulated power into interior regulated power for the processor module and the packet network switch and into exterior regulated power.

8. The robotic control module of claim 6, further comprising a reprogrammable actuator controller capable of communication with the processing module, the reprogrammable actuator controller located within the mountable housing and capable of issuing actuator control signals based at least in part on the robotic control behaviors.

9. The robotic control module of claim 8, further comprising an actuator connector available on an exterior of the mountable housing, the actuator connector in communication with the reprogrammable actuator controller and capable of transmitting actuator control signals.

10. The robotic control module of claim 6, further comprising an actuator amplifier within the mountable housing capable of amplifying the actuator control signal from the reprogrammable actuator controller.

11. A robotic control module for use in a mobile robotic platform, comprising:

a mountable housing;

a processing module within the mountable housing capable of executing and arbitrating among robotic control behaviors and having a processor and memory, the memory comprising transceiver monitoring code, the processing module comprising at least one protocol transceiver capable of executing transceiver monitoring code;

a network connector available on the exterior of the mountable housing capable of connection to a network, wherein the network is capable of transmitting instructions to and from the processing module;

a reprogrammable actuator controller capable of communication with the processing module, the reprogrammable actuator controller located within the mountable housing and capable of issuing actuator control signals based at least in part on the robotic control behaviors;

an actuator amplifier within the mountable housing capable of amplifying the actuator control signal from the reprogrammable actuator controller; and

a power supply within the mountable housing, the power supply receiving unregulated power from the mobile robotic platform through a power input to the mountable housing and converting the unregulated power into interior regulated power for the processing module and into exterior regulated power.

12. The robotic control module of claim 11, further comprising a power supply connector on the exterior of the mountable housing capable of connection to an exterior regulated power.

13. The robotic control module of claim 11, further comprising a packet network switch within the mountable housing communicating with the network connector.

14. The robotic control module of claim 11, further comprising an actuator connector, the actuator connector communicating an actuator drive signal modulated by the reprogrammable actuator controller and the actuator amplifier.

15. A robotic control module for use in a mobile robotic platform, comprising:

a mountable housing;

a processing module within the mountable housing having a processor and memory, the memory comprising robotic control behaviors, wherein the processing module is capable of executing and arbitrating among robotic control behaviors;

a reprogrammable actuator controller capable of communication with the processing module, the reprogrammable actuator controller located within the mountable housing and capable of issuing actuator control signals based at least in part on the robotic control behaviors;

an actuator connector available on an exterior of the mountable housing, the actuator connector in communication with the reprogrammable actuator controller and capable of transmitting actuator control signals; and

a network connector available on the exterior of the mountable housing capable of connection to a network, wherein the processing module is capable of transmitting instructions to and from the network.

16. The robotic control module of claim 15, wherein the robotic control behaviors comprise a teleoperation mode, an obstacle avoidance mode, a waypoint navigation mode, and a following mode.

17. The robotic control module of claim 15, wherein the memory comprises a vehicle control unit interface for communicating with a vehicle control unit.

18. The robotic control module of claim 15, further comprising a power supply within the mountable housing, the power supply receiving unregulated power from the mobile robotic platform through a power input to the mountable housing and converting the unregulated power into interior regulated power for the processing module and into exterior regulated power.

19. A robotic control module for use in a mobile robotic platform, comprising:

a mountable housing;

a processing module within the mountable housing having a processor and memory, the memory comprising robotic control behaviors, wherein the processing module is capable of executing and arbitrating among robotic control behaviors;

a reprogrammable actuator controller capable of communication with the processing module, the reprogrammable actuator controller located within the mountable housing and capable of issuing actuator control signals based at least in part on the robotic control behaviors;

a packet network switch within the mountable housing capable of relaying instructions for the reprogrammable actuator controller; and

a power supply within the mountable housing, the power supply receiving unregulated power from the mobile robotic platform through a power input to the mountable housing and converting the unregulated power into interior regulated power for the processing module and into exterior regulated power.

20. The robotic control module of claim 19, wherein the robotic control behaviors comprise a teleoperation mode, an obstacle avoidance mode, a waypoint navigation mode, and a following mode.

21. The robotic control module of claim 19, wherein the memory comprises a vehicle control unit interface for communicating with a vehicle control unit.

22. The robotic control module of claim 19, further comprising an actuator amplifier within the mountable housing capable of amplifying the actuator control signal from the reprogrammable actuator controller.

23. A robotic vehicle, comprising:

a vehicle body;

a vehicle control system coupled to the vehicle body and capable of controlling the vehicle operational systems;

a robotic control system capable of controlling the vehicle control system, the robotic control system comprising a plurality of peripherals and a plurality of interchangeable mountable modules; and

wherein each interchangeable mountable module is capable of communicating with at least one associated peripheral and comprises a processor and a memory having executable code comprising a plurality of modular roles, the processor being configurable to execute a modular role corresponding to a determined role of the interchangeable mountable module.

24. The robotic vehicle of claim 23, wherein the associated peripheral comprises an actuator and the vehicle control system comprises at least one subsystem that is controlled by the actuator.

25. The robotic vehicle of claim 24, wherein the subsystem comprises a throttle system, a braking system, a steering system, or a transmission system for controlling the robotic vehicle.

26. The robotic vehicle of claim 24, further comprising a vehicle controller in communication with the subsystem, the vehicle controller capable of controlling the vehicle control system based on control signals from the robotic control unit.

27. The robotic vehicle of claim 24, wherein at least one interchangeable mountable module further comprises a reprogrammable actuator controller capable of receiving signals from the processor and issuing actuator control signals to control the actuator.

28. The robotic vehicle of claim 27, wherein at least one interchangeable mountable module further comprises an actuator amplifier that amplifies the actuator control signals received from the reprogrammable actuator controller, and the interchangeable mountable module further comprises an actuator connector for transmitting the amplified actuator control signals.

29. The robotic vehicle of claim 23, wherein at least one interchangeable mountable module further comprises a packet network switch and a network connector capable of connection to a packet network and communicating with the packet network switch, wherein the packet network is capable of relaying control signals for the robotic control system.

30. The robotic vehicle of claim 23, wherein the processor and memory are on a single board, the board comprising a plurality of protocol transceivers.

31. The robotic vehicle of claim 23, wherein at least one interchangeable mountable module further comprises a power supply, the power supply receiving unregulated power through a power input and converting the unregulated power into interior regulated power for the processor and memory and into exterior regulated power.

32. The robotic vehicle of claim 23, wherein at least one of the modular roles comprises a defined set of robotic control routines selected from behavior arbitration and behaviors.

33. The robotic vehicle of claim 23, wherein at least one of the modular roles is capable of updating the executable code in at least some of the interchangeable mountable modules.

34. The robotic vehicle of claim 23, wherein at least one of the interchangeable mountable modules is capable of providing a supervisory role and providing supervisory signals to the other interchangeable mountable modules.

35. The robotic vehicle of claim 23, wherein the interchangeable mountable modules are distributed throughout the vehicle body.

36. The robotic vehicle of claim 35, wherein the distributed interchangeable mountable modules comprise at least one of behavior arbitration code, behavior code, sensor driver code, drive controller code, actuator controller code, database management code, database data, and data converter code.

37. The robotic vehicle of claim 23, wherein the determined modular role of the interchangeable mountable module is determined by a location of the interchangeable mountable module in the vehicle body.

38. The robotic vehicle of claim 23, wherein a local code setting contained in a connector to the interchangeable mountable module determines the modular role.

39. The robotic vehicle of claim 23, wherein the determined module role of the interchangeable mountable module is based at least in part on the associated peripheral.

40. A robotic vehicle, comprising:

a drive actuator for controlling the motion of the robotic vehicle;

a robotic sensor;

a network; and

a plurality of interchangeable robotic control modules in communication with the drive actuator and the robotic sensor over the network, each robotic control module comprising;

a network switch connected to the network;

an actuator control circuit capable of communicating with the drive actuator over the network;

a sensor circuit capable of communicating with the robotic sensor over the network;

a processing module comprising a processor and memory, the memory comprising robotic control behaviors, wherein the processing module is capable of executing and arbitrating among robotic control behaviors; and

a motor controller comprising a DSP and a protocol stack for communicating with a peripheral.

41. The robotic vehicle of claim 40, wherein the memory further comprises a driver adapted to timestamp received data and publish the timestamped data to a network message queue.

42. The robotic vehicle of claim 40, further comprising the peripheral communicating with at least one interchangeable robotic control module through the network switch.

43. The robotic vehicle of claim 42, wherein the network switch channels data from the peripheral to manage network bandwidth.

44. The robotic control vehicle of claim 42, wherein at least one interchangeable control module further comprises a protocol transceiver for communicating with the peripheral;

and

wherein the protocol transceiver is controlled pursuant to predetermined rules for communications.

45. The robotic control vehicle of claim 42, wherein the network switch routes signals from the peripheral to the processor.

46. The robotic control vehicle of claim 42, further comprising a controller area network (CAN) bus;

and

wherein the peripheral communicates with at least one interchangeable control module over the CAN bus.

47. A robotic vehicle, comprising

a vehicle body;

a vehicle control system coupled to the vehicle body and capable of operating the vehicle; and

a robotic control system capable of controlling the vehicle control system, the robotic control system comprising a plurality of peripherals and a plurality of interchangeable mountable modules distributed throughout the robotic vehicle;

wherein each interchangeable mountable module is capable of communicating with at least one associated peripheral and comprising a processor and a memory having executable code comprising at least one of behavior code, sensor driver code, drive controller code and actuator controller code, the processor is configurable to execute a modular role corresponding to a determined role of the interchangeable mountable module.

48. A robotic control unit packaging for a mobile robotic platform, the packaging comprising:

a single housing having a front face and a rear face;

a first circuit board within the housing and extending from the front face to the rear face, the first circuit board comprising a signal processor sensitive to electromagnetic noise closer to the front face than the rear face;

a second circuit board within the housing and parallel to the first circuit board, the second circuit board comprising a motor amplifier inductor and a power supply inductor, the motor amplifier inductor and power supply inductor being capable of generating electromagnetic noise and arranged closer to the rear face of the housing than the front face; and

a third circuit board within the housing and arranged parallel to the first and second circuit boards and between the first and second circuit boards, wherein the third circuit board is adapted to shield the signal processor from the generated electromagnetic noise.

49. The robotic control unit packaging of claim 48, further comprising a flat intermediate volume formed between the first circuit board and the second circuit board;

and

wherein the power supply inductor, motor amplifier inductor, third circuit board, at least one component associated with the first circuit board, and at least one component associated with the second circuit board extend into the flat intermediate volume; and

wherein the at least one component associated with the first circuit board and the at least one component associated with the second circuit board overlap in the flat intermediate volume.

50. The robotic control unit packaging of claim 48, further comprising:

power supply circuitry on the first circuit board and connected to the housing with a heat conductive path, the power supply circuitry being adapted to generate heat;

motor amplifier circuitry on the second circuit board and connected to the housing with a heat conductive path, the motor amplifier circuitry being adapted to generate heat; and

wherein the housing comprises a heat conductive material and is adapted to sink heat generated from the power supply circuitry and the motor amplifier circuitry.

51. The robotic control unit packaging of claim 50, wherein the motor amplifier circuitry comprises a plurality of MOSFETs adapted to generate heat, each MOSFET being connected to the housing, the housing adapted to sink heat generated by each MOSFET.

52. A method of fitting an existing mobile platform with a robotic control packaging, the method comprising:

forming a plurality of mountable modules, each mountable module comprising a housing, the housing comprising a front face, a rear face, and a plurality of face panels between the front face and rear face, the face panels comprising a power input, an actuator connector, a plurality of network connectors, and a power supply connector;

selecting a plurality of mounting sites on the mobile platform for the plurality of mountable modules, wherein at least one of the mounting sites being idle space within interior compartments of the mobile platform;

mounting the plurality of mountable modules within the mounting sites;

connecting the plurality of mountable modules together using at least one network connector on each mountable module to form a communications network;

connecting the plurality of mountable modules to a power source on the mobile platform using the power input of each mountable module;

connecting at least one of the mountable modules to a corresponding actuator using the actuator connector; and

connecting at least one of the mountable modules to a corresponding sensor using the power supply connector.

53. The method of claim 52, further comprising connecting at least one of the mountable modules to a corresponding sensor using at least one of the network connectors.

54. The method of claim 52, wherein forming a plurality of mountable modules comprises forming a plurality of identical mountable modules.

55. A robotic control apparatus for a mobile robotic platform, comprising

a mountable module;

a reprogrammable actuator controller within the mountable module;

an actuator connector available on the exterior of the mountable module communicating a signal for actuator driving that is modulated by the reprogrammable actuator controller;

a packet network switch within the mountable module, the packet network being capable of relaying instructions for the reprogrammable actuator controller;

a plurality of network connectors on the exterior of the mountable module being capable of connection to a packet network and communicating with the packet network switch;

a power supply within the mountable module, the power supply receiving unregulated power from the mobile robotic platform through a power input to the mountable module and converting the unregulated power into interior regulated power for the packet network switch and the reprogrammable actuator controller and into exterior regulated power; and

a power supply connector available on the exterior of the mountable module being capable of connection to the exterior regulated power.

56. The robotic control apparatus of claim 55, wherein the signal for actuator driving is from an actuator amplifier that is modulated by the reprogrammable actuator controller.

57. The robotic control apparatus of claim 55, wherein the signal for actuator driving is from an actuator amplifier that is modulated by the reprogrammable actuator controller and the actuator amplifier.

58. The robotic control apparatus of claim 55, wherein the reprogrammable actuator controller is capable of processing and includes one of a digital signal processor, programmable logic device, or gate array;

and

wherein at least part of the processing capability controls signals other than a signal for actuator driving.

59. A robotic control apparatus for a mobile robotic platform, comprising:

a mountable module;

a reprogrammable actuator controller within the mountable module capable of issuing actuator control signals within the mountable module;

an actuator amplifier within the mountable module that receives the actuator control signal from the reprogrammable actuator controller;

an actuator connector available on the exterior of the mountable module communicating an actuator drive signal modulated by the reprogrammable actuator controller and the actuator amplifier;

a packet network switch within the mountable module;

a plurality of network connectors available on the exterior of the mountable module being capable of connection to a packet network and communicating with the packet network switch, the packet network being capable of relaying instructions for the reprogrammable actuator controller;

a power supply within the mountable module, the power supply receiving unregulated power from the mobile robotic platform through a power input to the mountable module and converting the unregulated power into interior regulated power for the packet network switch and the reprogrammable actuator controller and into exterior regulated power; and

a power supply connector available on the exterior of the mountable module being capable of connection to the exterior regulated power.

60. A robotic control unit for use in an autonomous vehicle, comprising:

a single housing;

a power supply positioned in the housing;

a processor module positioned in the housing;

a motor controller positioned in the housing;

a motor amplifier positioned proximate to the motor controller in the housing; and

an Ethernet switch positioned in the housing.

61. A robotic control unit for use in an autonomous vehicle, comprising:

a housing;

a processor contained in the housing,

wherein the robotic control unit is capable of controlling at least one motor associated with an operating system of the autonomous vehicle, and

wherein the robotic control unit is capable of receiving unregulated vehicle power and outputting regulated power.

62. A method for fitting a vehicle for autonomous control, comprising:

identifying idle spaces in the vehicle;

distributing a plurality of robotic control units in the idle spaces, wherein the robotic control units each comprise a power supply and a processor and at least one of a motor controller, a motor amplifier, or an Ethernet switch; and

connecting the robotic control units such that the robotic control units can communicate with each other and at least one operating system of the vehicle.

63. A robotics kit for use on a vehicle, comprising:

at least one robotic control unit having a single housing configurable to have at least three of a power supply, an Ethernet switch, a motor controller, a motor amplifier, or a processor in the housing; and

wherein the housing is sized to fit into available idle spaces in the vehicle.

64. The robotics kit of claim 63, wherein the dimensions of the robotic control unit less than 5 inches by 8 inches by 10 inches.

65. A robotic control system for a mobile robotic platform, comprising:

a plurality of interchangeable mountable modules, each interchangeable mountable module comprising;

a power input;

an actuator connector;

a plurality of network connectors;

a power supply connector available on the exterior of the interchangeable mountable module;

an actuator controller, the actuator connector communicating a signal for actuator driving that is modulated by the reprogrammable actuator controller;

a packet network switch, each network connector being capable of connection to a packet network and communicating with the packet network switch, the packet network being capable of relaying instructions for the actuator controller;

a power supply, the power supply receiving unregulated power from the mobile robotic platform through the power input and converting the unregulated power into interior regulated power for the packet network switch and the reprogrammable actuator controller and into exterior regulated power, the power supply connector being connected to the exterior regulated power; and

a memory including executable code, each interchangeable mountable module being configurable to execute a selected part of the executable code, such that each of the plurality of interchangeable mountable modules may be provided with multiple possible executable code parts for different modular roles and each of the plurality of interchangeable mountable modules is configurable to execute only the selected part of the executable code appropriate for a selected modular role.

66. A robot, comprising:

a platform having a body and a motor connected to a drive having steering control and speed control;

a plurality of interchangeable mountable modules, each interchangeable mountable module including a power input, an actuator connector, a plurality of network connectors, and a power supply connector available on the exterior of the interchangeable mountable module, and each interchangeable mountable module comprising;

a reprogrammable actuator controller capable of issuing actuator control signals;

an actuator amplifier that receives the actuator control signal from the reprogrammable actuator controller, the actuator connector communicating an actuator drive signal modulated by the reprogrammable actuator controller and the actuator amplifier;

a packet network switch, each of the plurality of network connectors being capable of connection to a packet network and communicating with the packet network switch, the packet network being capable of relaying instructions for the reprogrammable actuator controller; and

a memory including executable code, each interchangeable mountable module being configurable to execute a selected part of the executable code, such that each of the plurality of interchangeable mountable modules may be provided with multiple possible executable code parts for different modular roles and each of the plurality of interchangeable mountable modules is configurable to execute only the selected part of the executable code appropriate for a selected modular role; and

wherein one interchangeable mountable module is mounted to control an actuator for the steering control of the drive, and one interchangeable mountable module is mounted to control an actuator for the speed control of the drive.

67. The robot of claim 66, wherein the speed control includes at least two of throttle control for the drive, direction control for the drive, or braking control for the drive;

and

wherein two interchangeable mountable modules are mounted to control actuators for such two of the throttle control for the drive, direction control for the drive, or braking control for the drive.

68. A robot, comprising:

a platform having a body and a motor connected to a drive;

a plurality of interchangeable mountable modules, each interchangeable mountable module including a power input, a plurality of network connectors, and a multipin connector available on the exterior of the interchangeable mountable module, and each interchangeable mountable module comprising;

a microprocessor board with code execution dynamic memory and code storage nonvolatile memory, the microprocessor board further including a plurality of protocol transceivers and being capable of executing transceiver monitoring code, the multipin connector being capable of communicating with the plurality of protocol transceivers sensors;

a packet network switch, each of the plurality of network connectors being capable of connection to a packet network distributed through the body and communicating with the packet network switch, the packet network being capable of relaying instructions for or from the microprocessor board; and

a power supply, the power supply receiving unregulated power from the platform through the power input and converting the unregulated power into interior regulated power for the microprocessor board and the packet network switch and into exterior regulated power, them multipin connector being connected to the exterior regulated power; and

a memory including executable code, each interchangeable mountable module being configurable to execute a selected part of the executable code, such that each of the plurality of interchangeable mountable modules may be provided with multiple possible executable code parts for different modular roles and each of the plurality of interchangeable mountable modules is configurable to execute only the selected part of the executable code appropriate for a selected modular role.

69. A distributed computing system for a robot, comprising:

a robot platform having a body and a motor connected to a drive;

a defined set of robotic control routines selected from behavior arbitration and behaviors, sensor drivers, drive controller, actuator controllers, database management and databases, and data converters;

a plurality of interchangeable mountable modules, each interchangeable mountable module including a power input, a plurality of network connectors, and a multipin connector available on the exterior of the interchangeable mountable module, and each interchangeable mountable module comprising;

a microprocessor board with code execution dynamic memory, the microprocessor board further comprising;

a plurality of protocol transceivers, the multipin connector being capable of communicating with the plurality of protocol transceivers sensors, and

nonvolatile memory including executable code, each microprocessor board of a interchangeable mountable module being configurable to execute a selected part of the executable code;

a packet network switch, each of the plurality of network connectors being capable of connection to a packet network distributed through the body and communicating with the packet network switch, the packet network being capable of relaying instructions for or from the microprocessor board; and

wherein the plurality of microprocessor boards being provided with instructions to load and execute discrete ones of the defined set of robotic control routines, such that all of the defined set of robotic control routines are executed among the plurality of interchangeable mountable modules.

70. The distributed computing system for a robot of claim 69, wherein each microprocessor board is configurable to execute a selected part of the executable code loaded in the corresponding nonvolatile memory, such that each of the plurality of microprocessor boards is configurable to execute only a selected part of the executable code loaded in the corresponding nonvolatile memory.

71. The distributed computing system for a robot of claim 69, wherein a selected one of the microprocessor boards is capable of updating the executable code in the nonvolatile memory of remaining ones of the microprocessor boards via the packet network distributed through the body.

72. The distributed computing system for a robot of claim 69, wherein a selected one of the interchangeable mountable modules is designated a supervisory role and provides supervisory instruction to remaining ones of the interchangeable mountable modules.

73. The distributed computing system for a robot of claim 69, wherein the interchangeable mountable modules are distributed throughout the body of the robot, and at least selected ones of behavior arbitration code, behavior code, sensor driver code, drive controller code, actuator controller code, database management code, database data, and data converter code are distributed for execution among the interchangeable mountable modules distributed throughout the body of the robot.