United States Patent	9,120,224
Sanders, Barajas, et al.	September 1, 2015

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Framework and method for controlling a robotic system using a distributed computer network

Download: pat9120224.pdf

[text]

AbstractA robotic system for performing an autonomous task includes a humanoid robot having a plurality of compliant robotic joints, actuators, and other integrated system devices that are controllable in response to control data from various control points, and having sensors for measuring feedback data at the control points. The system includes a multi-level distributed control framework (DCF) for controlling the integrated system components over multiple high-speed communication networks. The DCF has a plurality of first controllers each embedded in a respective one of the integrated system components, e.g., the robotic joints, a second controller coordinating the components via the first controllers, and a third controller for transmitting a signal commanding performance of the autonomous task to the second controller. The DCF virtually centralizes all of the control data and the feedback data in a single location to facilitate control of the robot across the multiple communication networks.

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Inventors:	Sanders; Adam M. (Holly, MI), Barajas; Leandro G. (Troy, MI), Permenter; Frank Noble (Webster, TX), Strawser; Philip A. (Houston, TX)
Applicant:	Name City State Country Type Sanders; Adam M. Barajas; Leandro G. Permenter; Frank Noble Strawser; Philip A. Holly Troy Webster Houston MI MI TX TX US US US US
Assignee:	GM Global Technology Operations LLC (Detroit, MI) The United States of America as Represented By The Administrator of the national Aeronautics and Space Administration (Washington, DC)
Family ID:	43757329
Appl. No.:	12/564,094
Filed:	September 22, 2009

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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 feedback data of the integrated system components including the plurality of joints; and a multi-level distributed control framework (DCF) adapted for controlling the integrated system components over multiple high-speed communication networks, including a backplane, the DCF including: a plurality of first controllers each configured as a joint controller operable for processing the measured feedback data within a corresponding one of the integrated system components, such that each of the first controllers controls a single degree of freedom (DOF) of the robot, wherein each of the plurality of joint controllers is embedded in the humanoid robot in close proximity to a respective one of the robotic joints; a second controller in the form of a brainstem having a plurality of modules connected to the backplane, wherein the brainstem, via the modules, provides reactive commands to the first controllers to command performance of the autonomous task in response to top-level commands, and prioritizes actions of the robot for the autonomous task by assigning a required communications speed to each of the actions and a third controller in the form of a system commander that is adapted for transmitting the top-level commands to the second controller as a signal, thereby commanding performance of the autonomous task; wherein the DCF centralizes and abstracts control data to, and the feedback data from, the integrated system components in a single logical location such that access to the centralized control data is provided only via the system commander to facilitate control of the humanoid robot across the multiple high-speed communication networks.