Systems and methods for editing and controlling the behavior of a mobile robot

Abstract

The present invention relates to systems and methods for editing and controlling the motion of a mobile robot. It notably allows the creation and modification of behavior and motion according to event logic and according to temporal logic, the latter controlling the event logic and thus allowing the synchronization of the behavior and motion of different robot subcomponents. To this end, the system is organized in behavior and motion layers, which include action sequences and timelines. Actions can be programmed in blocks interconnected by signals that convey information. The boxes are organized in a hierarchical structure, the lowest level of which includes scripts that can be interpreted by the virtual robot and, where appropriate, the physical robot, which simulates the execution of commands. The motion of the robot can also be controlled graphically through the motion screen.

Description

technical field [0001] The present invention relates to the field of robotic programming systems. More specifically, it applies to the editing and control of the behavior and movement of robots (especially human- or animal-shaped robots) based on articulated limbs or using them to move around. Background technique [0002] A robot can be considered humanoid when it has the following specific human appearance attributes: head, torso, arms, hands, legs, feet, etc. However, humanoid robots can be more or less complex. Its limbs may have a greater or lesser number of joints. It can control its own balance both statically and dynamically, and may walk on two limbs in three dimensions. It can pick up signals from the environment ("listen", "see", "touch", "sense", etc.) and react according to more or less complex behaviors, and communicate with other robots or people by speech or by gestures interact. In order to utilize these capabilities optimally, it is still necessary to ...

AI Technical Summary

Problems solved by technology

However, this logic presents a disadvantage: the preprogrammed sequence of behavior cannot be interrupted until the expected event has occurred

However, in the described method, the programmer must intervene in one of these two programming blocks, so that they are compatible

This approach thus does not solve the problem of making both event and temporal programming logic compatible without programmer intervention

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