Message-Based Evaluation for High-Level Robot Control

In this paper, we present a method for high-level control of robots whose low-level software is based on dynamically reconfigurable, reusable real-time software modules. Our approach is to use an embedded interpreter for a general-purpose programming language to direct the operation of the low-level modules toward meeting the task-level goals of the robot. To this end, we present RSK, a virtual-machine kernel implementing a scheme interpreter capable of hard real-time operation, and employing a method of code execution we call "message-based evaluation" (MBE). MBE is a novel combination of a traditional code execution model and a message-passing architecture, which simplifies the process of writing code for managing the robot's reconfigurable subsystem.

Authors

• Christopher Lee 0001
• Yangsheng Xu

Keywords

• Robot control
• Robot kinematics
• Software reusability
• Robot sensing systems
• Switches
• Real time systems
• Application software
• Software libraries
• Force control
• Robotics and automation
• High Level Of Control
• Walking
• Operating System
• Programming Language
• Real-time Performance
• Control Mode
• State Machine
• High-level Processing
• Software Module
• Robot Operating
• Software Architecture
• Visual Programming
• Graphics Program
• Dynamic Reconfiguration
• Execution Methods
• Mobile Manipulator
• Module Configuration
• Standard Evaluation
• Root Node
• Child Nodes
• Nodes In The Graph
• Temporal Relationship
• Real-time Estimation
• Messaging System
• Representative Expression
• Coding Structure
• Evaluation Of Strategies