Real-Time Robot Control for Custom Streaming Actions
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Solution Overview
Problem
Existing robotics application frameworks do not allow users to customize interfaces for real-time, custom use cases, limiting the ability to implement custom software modules that can handle real-time sensor information and control logic within strict timing constraints, which affects precision and reliability in robot operations.
Innovation Solution
A real-time robotics control framework that enables users to define custom real-time reactions, handle streaming inputs, and integrate sensor data, allowing for custom control code and callback functions to be executed within tight timing constraints, facilitating higher precision and reliability in robot movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If closed software modules are used for highly-specialized tasks, then reliability is improved, but adaptability deteriorates
Solution Approach 1:
The software control system is divided into distinct layers: a real-time control layer with closed modules for reliability-critical functions, and an application layer with open frameworks for customization. This segmentation allows each layer to fulfill its specific purpose without compromising the other.
Solution Approach 2:
An intermediary interface layer is introduced between the closed real-time control modules and the open application framework. This intermediary enables communication and data exchange while maintaining the integrity and timing guarantees of the real-time layer.
2Adaptability or versatility
If custom software modules are allowed, then adaptability is improved, but device complexity increases
Solution Approach 1:
The application framework provides universal interfaces and standardized module structures that can accommodate various custom functionalities. By defining common communication protocols and data formats, the system supports diverse custom modules without requiring separate integration logic for each.
3Reliability
If strict timing requirements are enforced, then reliability is improved, but ease of operation deteriorates
Solution Approach 1:
The system dynamically manages timing constraints by providing real-time scheduling mechanisms that automatically adjust task execution based on priority and deadlines. This allows developers to write flexible code while the runtime system ensures timing requirements are met through dynamic resource allocation.
Data Source
AI summary
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action that uses streaming inputs. One of the methods comprises receiving a definition of a custom real-time streaming control function that defines a custom streaming action, wherein the custom streaming action specifies a goal state for a robot in an operating environment; providing a command to initiate the custom streaming action; and repeatedly providing updated goal states for the custom streaming action, wherein the control layer of the framework is configured to execute the custom streaming action including driving the robot toward a most recent goal state at each tick of a real-time robotics control cycle.