GENERIC ROBOT ARCHITECTURE
First Claim
1. A method for providing a generic robot architecture for robot control software, comprising:
- providing a hardware abstraction level configured for developing a plurality of hardware abstractions for defining, monitoring, and controlling a plurality of hardware modules available on a robot platform; and
providing a robot abstraction level configured for defining a plurality of robot attributes comprising at least one of the plurality of hardware abstractions, wherein the plurality of robot attributes provide a software framework for building robot behaviors from the plurality of robot attributes and wherein each robot attribute of the plurality is configured for substantially isolating the robot behaviors from the plurality of hardware abstractions.
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Accused Products
Abstract
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 include hardware information from at least one hardware abstractions. In addition, each robot attribute is configured to substantially isolate the robot behaviors from the hardware abstractions.
178 Citations
30 Claims
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1. A method for providing a generic robot architecture for robot control software, comprising:
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providing a hardware abstraction level configured for developing a plurality of hardware abstractions for defining, monitoring, and controlling a plurality of hardware modules available on a robot platform; and providing a robot abstraction level configured for defining a plurality of robot attributes comprising at least one of the plurality of hardware abstractions, wherein the plurality of robot attributes provide a software framework for building robot behaviors from the plurality of robot attributes and wherein each robot attribute of the plurality is configured for substantially isolating the robot behaviors from the plurality of hardware abstractions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A computer readable medium having computer executable instructions thereon, which when executed on a processor provide a generic robot architecture, comprising:
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a hardware abstraction level configured for developing a plurality of hardware abstractions for defining, monitoring, and controlling a plurality of hardware modules available on a robot platform; and a robot abstraction level configured for defining a plurality of robot attributes comprising at least one of the plurality of hardware abstractions, wherein the plurality of robot attributes provide a software framework for building robot behaviors from the plurality of robot attributes and wherein each robot attribute of the plurality is configured for substantially isolating the robot behaviors from the plurality of hardware abstractions. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A robot platform, comprising:
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at least one perceptor configured for perceiving environmental variables of interest; at least one locomotor configured for providing mobility to the robot platform; a system controller configured for executing a generic robot architecture, the generic robot architecture comprising; a hardware abstraction level configured for developing a plurality of hardware abstractions for defining, monitoring, and controlling a plurality of hardware modules available on the robot platform; and a robot abstraction level configured for defining a plurality of robot attributes comprising at least one of the plurality of hardware abstractions, wherein the plurality of robot attributes provide a software framework for building robot behaviors from the plurality of robot attributes and wherein each robot attribute of the plurality is configured for substantially isolating the robot behaviors from the plurality of hardware abstractions. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30)
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Specification