HARDWARE ABSTRACTION LAYER (HAL) FOR A ROBOT

• US 20080071423A1
• Filed: 11/27/2007
• Published: 03/20/2008
• Est. Priority Date: 11/28/2001
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: Evolution Robotics Inc. (iRobot Corporation)
• Inventors: Pham, Baoquoc, Murray, Thomas IV, Pirjanian, Paolo
• Granted Patent: US 7,925,381 B2
• Time in Patent Office: Days
• US Class Current: 700/250
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: B25J 9/1661 characterised by task planning, object-oriented languages
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/40389 Use robot control language also to write non robotic user, application programs
• CPC Class Codes: G05B 2219/40397 Programming language for robots, universal, user oriented
• 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: G06F 9/455 Emulation; Interpretation; Software simulation, e.g. virtualisation or emulation of application or operating system execution engines
• CPC Class Codes: G06N 3/008 based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
• CPC Class Codes: Y10T 436/11 Automated chemical analysis

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.

Claims

1. A hardware abstraction layer (HAL) in an apparatus with a software architecture, the architecture comprising higher-level software for interacting with a plurality of resources, the plurality of resources comprising one or more software resources, the HAL comprising:

a set of one or more resource drivers, the set comprising at least a first software resource driver adapted to communicate with a first software resource from the plurality of resources, wherein the first resource driver is adapted to support a plurality of functions associated with the first software resource;

a set of two or more resource interfaces, each resource interface adapted to communicate with the higher-level software and with the first software resource driver, the set of two or more resource interface comprising;

a) a first resource interface for invoking a first set of one or more functions of the plurality of functions supported by the first software resource driver; and

b) a second resource interface for invoking a second set of one or more functions of the plurality of functions supported by the first software resource driver, wherein the first set of functions is different than the second set of functions;

wherein the higher-level software communicates with the first software resource via one or more selected interfaces of the plurality of resource interfaces, and the first software resource communicates with the higher-level software via the first software resource driver.