[특허]Hardware abstraction layer for a robot

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G05B-019/04 G05B-019/18
출원번호	US-0307199 (2002-11-27)
발명자 / 주소	Murray, IV, Thomas J. Pham, Baoquoc N. Pirjanian, Paolo
출원인 / 주소	Evolution Robotics, Inc.
대리인 / 주소	Knobbe, Martens, Olson &
인용정보	피인용 횟수 : 56 인용 특허 : 12

초록 ▼

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 relativel

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.

대표청구항 ▼

1. A method in a robot of providing hardware abstraction for robot control software, the method comprising:providing a plurality of resource drivers for the robot, where the plurality of resource drivers includes resource drivers for which no corresponding hardware is present on the robot; detecting

1. A method in a robot of providing hardware abstraction for robot control software, the method comprising:providing a plurality of resource drivers for the robot, where the plurality of resource drivers includes resource drivers for which no corresponding hardware is present on the robot; detecting a hardware configuration for the robot; automatically detecting resources that are available on the robot based on the detected hardware configuration; receiving a request from the robot control software to use a type of resource; automatically selecting a resource from the available resources that corresponds to the type of resource requested by the robot control software; exchanging a first information with the robot control software, where the first information is related to use of the selected resource and is provided in a unit of measure that is related to a robot; exchanging a second information with a low-level device driver corresponding to the resource, where the second information is related to the use requested by the robot control software, where the second information is provided in a unit of measure that is related to a corresponding device, and where the second information is different than the first information; and converting between the first information and the second information based on the detected configuration of the robot. 2. The method as defined in claim 1, where the first information is linear velocity and the second information is angular velocity.3. The method as defined in claim 1, wherein the method is embodied in an application program interface (API).4. The method as defined in claim 1, wherein the type of resource comprises a distance sense, and wherein the resource that is selected correspondS to a device selected from the group consisting of a bump sensor, a laser range finder, an ultrasonic sensor, and an infrared sensor.5. The method as defined in claim 1, wherein the robot initially includes a bump sensor, and wherein the hardware configuration for the robot specifies the bump sensor, further comprising:changing the bump sensor to an infrared sensor; changing the hardware configuration for the robot; and automatically converting between the first information and the second information based on the new detected configuration of the robot such that the robot control software can be used without modification. 6. The method as defined in claim 1, further comprising:including a security parameter with a method call; verifying a security ticket when access is requested to a resource; and controlling access to the resource based on the security ticket. 7. The method as defined in claim 1, further comprising:maintaining a reservation count parameter that is updated based on access to a resource; and controlling access to the resource based on the count. 8. A computer-readable medium having computer-executable instructions for performing a method comprising:providing a plurality of resource drivers for the robot, where the plurality of resource drivers includes resource drivers for which no corresponding hardware is present on the robot; detecting a hardware configuration for the robot; automatically detecting resources that are available on the robot based on the detected hardware configuration; receiving a request from the robot control software to use a type of resource; automatically selecting a resource from the available resources that corresponds to the type of resource requested by the robot control software; exchanging a first information with the robot control software, where the first information is related to use of the selected resource and is provided in a unit of measure that is related to a robot; exchanging a second information with a low-level device driver corresponding to the resource, where the second information is related to the use requested by the robot control software, where the second information is provided in a unit of measure that is related to a corresponding device, and where the second information is different than the first information; and converting between the first information and the second information based on the detected configuration of the robot.

LOADING...

이 특허에 인용된 특허 (12) 인용/피인용 타임라인 분석

Tow Robert F., Affect-based robot communication methods and systems.
상세보기
Tow Robert F., Affect-based robot communication methods and systems.
상세보기
Jewitt James W., Application program interface to physical devices.
상세보기
Fujita, Masahiro; Sakamoto, Takayuki; Sabe, Kotaro; Takagi, Tsuyoshi, Arithmetic processing device, object-to-object communication method and robot.
상세보기
Tomoaki Kasuga JP; Ayako Okita JP, Authoring system and method, and storage medium used therewith.
상세보기
Brown, David W.; Clark, Jay S., Distribution of motion control commands over a network.
상세보기
Zweig, Stephen Eliot, Mobile robotic with web server and digital radio links.
상세보기
Brown David W. (White Salmon WA) Clark Jay S. (Seattle WA), Motion control systems.
상세보기
Brown David W. ; Clark Jay S., Motion control systems.
상세보기
Brown, David W.; Clark, Jay S., Motion control systems.
상세보기
Brown David W. ; Clark Jay S., Motion control systems using communication map to facilitating communication with motion control hardware.
상세보기
David W. Brown ; Jay S. Clark, Systems and methods for generating and communicating motion data through a distributed network.
상세보기

이 특허를 인용한 특허 (56) 인용/피인용 타임라인 분석

Trytten, Chad D.; Angerilli, Anthony J. V.; Mackay, Kenneth J., Application-independent and component-isolated system and system of systems framework.
상세보기
Romanov, Nikolai; Dooley, Michael; Pirjanian, Paolo, Articulated joint and three areas of contact.
상세보기
Bruemmer, David J.; Few, Douglas A., Autonomous navigation system and method.
상세보기
Sakagami,Yoshiaki; Matsunaga,Shinichi; Sumida,Naoaki, Autonomously moving robot management system.
상세보기
Smith, Fraser M., Coordinated robotic control.
상세보기
Brown, David W.; Clark, Jay S., Data routing systems and methods.
상세보기
Brown, David W.; Clark, Jay S., Database event driven motion systems.
상세보기
Shah, Pankaj; Konolige, Kurt; Augenbraun, Joe; Donaldson, Nick; Fiebig, Charles; Liu, Yuming; Khan, Hassaan Moin; Pinzarrone, Joseph; Salinas, Leo; Tang, Hua; Taylor, Rafael, Distance sensor system and method.
상세보기
Kantorowitz, Ellezer; Lyakas, Alexander, Environment-independent software.
상세보기
Ng Thow Hing,Victor; Drumwright,Evan, Extensible task engine framework for humanoid robots.
상세보기
Krinke, II, Thomas L.; Boehm, Brian E., External device support for device abstraction layer.
상세보기
Perrone, Paul J., General purpose robotics operating system.
상세보기
Perrone, Paul J., General purpose robotics operating system with unmanned and autonomous vehicle extensions.
상세보기
Bruemmer, David J.; Few, Douglas A., Generic robot architecture.
상세보기
Murray, IV, Thomas J.; Pham, Baoquoc N.; Pirjanian, Paolo, Hardware abstraction layer (HAL) for a robot.
상세보기
Murray, IV,Thomas J.; Pham,Baoquoc N.; Pirjanian,Paolo, Hardware abstraction layer (HAL) for a robot.
상세보기
Murray, IV,Thomas J.; Pham,Baoquoc N.; Pirjanian,Paolo, Hardware abstraction layer (HAL) for a robot.
상세보기
Uchiyama, Naoya, Image processing apparatus, image processing system, image processing method, and computer program.
상세보기
Uchiyama, Naoya, Image processing apparatus, image processing system, image processing method, and computer program.
상세보기
Gonzalez-Banos, Hector H.; Ng-Thow-Hing, Victor; Yang, Allen Y., Interface for robot motion control.
상세보기
Gonzalez-Banos, Hector H.; Wormer, Joel A.; Guan, Li, Interface for sensor query and control.
상세보기
Tischer,Steve, Method and system for customizing voice translation of text to speech.
상세보기
Jacobsen, Stephen C.; Olivier, Marc X.; Pensel, Ralph W.; Smith, Fraser M., Method and system for deploying a surveillance network.
상세보기
Pikulski, Joseph L., Mobilized cooler device with fork hanger assembly.
상세보기
Jacobsen, Stephen C.; Olivier, Marc X., Modular robotic crawler.
상세보기
Bruemmer, David J., Modular robotic manipulation.
상세보기
Bruemmer, David J., Modular robotic manipulation.
상세보기
Augenbraun, Joe; Hirschhorn, Linda; Shah, Pankaj; Donaldson, Nick; Jayne, William; Gomez, Juan B.; Pinzarrone, Joseph, Multi-function robotic device.
상세보기
Bruemmer, David J.; Few, Douglas A., Occupancy change detection system and method.
상세보기
Jacobsen, Stephen C.; Olivier, Marc X., Point and go navigation system and method.
상세보기
Versteeg, Roelof J.; Few, Douglas A.; Kinoshita, Robert A.; Johnson, Doug; Linda, Ondrej, Real time explosive hazard information sensing, processing, and communication for autonomous operation.
상세보기
Versteeg, Roelof J.; Few, Douglas A.; Kinoshita, Robert A.; Johnson, Douglas; Linda, Ondrej, Real time explosive hazard information sensing, processing, and communication for autonomous operation.
상세보기
Brown, Stephen J.; Brown, David W., Remote generation and distribution of command programs for programmable devices.
상세보기
Kim, Hong-Ryeol; Kim, Dae-Won; Park, Hong-Seong; Kim, Hong-Seok; Lee, Ho-Gil, Robot control software framework in open distributed process architecture.
상세보기
Kim, Yoon Soo, Robot control system and method.
상세보기
Romanov, Nikolai; Dooley, Michael; Pirjanian, Paolo, Robotic floor cleaning apparatus with shell connected to the cleaning assembly and suspended over the drive system.
상세보기
Bruemmer,David J.; Anderson,Matthew O., Robotic follow system and method.
상세보기
Bruemmer, David J., Robotic guarded motion system and method.
상세보기
Bruemmer, David J., Robotic intelligence kernel.
상세보기
Bruemmer, David J.; Few, Douglas A.; Walton, Miles C., Robotics virtual rail system and method.
상세보기
Nielsen, Curtis W.; Bruemmer, David J.; Walton, Miles C.; Hartley, Robert S.; Gertman, David I.; Kinoshita, Robert A.; Whetten, Jonathan, Robots, systems, and methods for hazard evaluation and visualization.
상세보기
Nahill, James; Wilz, David; Amundsen, Thomas; Franz, Dwight; Hernandez, Mark; Edmonds, Shane Michael; Gloeckner, Sarah; Beiler, John; Meagher, Mark; Cairns, James A.; Cavanaugh, Glenn Alan, Scanner with wake-up mode.
상세보기
Pensel, Ralph W., Serpentine robotic crawler.
상세보기
Smith, Fraser M., Serpentine robotic crawler.
상세보기
Smith, Fraser M.; Olivier, Marc; McCullough, John, Serpentine robotic crawler for performing dexterous operations.
상세보기
Nielsen, Curtis; Bruemmer, David; Few, Douglas; Walton, Miles, System and method for seamless task-directed autonomy for robots.
상세보기
Gal, Ehud; Berinsky, Gennadiy; Wolf, Yosi, System for extending the observation, surveillance, and navigational capabilities of a robot.
상세보기
Furlong, John A.; Hernandez, Mark Jose Antonio; Koch, Craig; Nahill, James; Cunningham, IV, Charles Joseph; Kearney, Sean Philip; Smith, Taylor, System having imaging assembly for use in output of image data.
상세보기
Takano,Yosuke, System, method, and program for robot control.
상세보기
Reger, Bernard D., Trainer for robotic vehicle.
상세보기
Dooley, Michael; Romanov, Nikolai; Pirjanian, Paolo, Transferable intelligent control device.
상세보기
Dooley, Michael; Romanov, Nikolai; Pirjanian, Paolo, Transferable intelligent control device.
상세보기
Jacobsen, Stephen C.; Marceau, David P., Two-dimensional layout for use in a complex structure.
상세보기
Bruemmer, David J.; Nielsen, Curtis W.; Hardin, Benjamin C.; Whetten, Jonathan M., Universal payload abstraction.
상세보기
Bruemmer, David J.; Hartley, R. Scott, Vehicle management system.
상세보기
Bruemmer, David J.; Hartley, R. Scott, Vehicle management system.
상세보기

활용도 분석정보

상세보기

다운로드

내보내기

활용도 Top5 특허

해당 특허가 속한 카테고리에서 활용도가 높은 상위 5개 콘텐츠를 보여줍니다.
더보기 버튼을 클릭하시면 더 많은 관련자료를 살펴볼 수 있습니다.

IPC	Description
A	생활필수품
A62	인명구조; 소방(사다리 E06C)
A62B	인명구조용의 기구, 장치 또는 방법(특히 의료용에 사용되는 밸브 A61M 39/00; 특히 물에서 쓰이는 인명구조 장치 또는 방법 B63C 9/00; 잠수장비 B63C 11/00; 특히 항공기에 쓰는 것, 예. 낙하산, 투출좌석 B64D; 특히 광산에서 쓰이는 구조장치 E21F 11/00)
A62B-1/08	.. 윈치 또는 풀리에 제동기구가 있는 것

내보내기 구분	파일저장 인쇄 메일전송
구성항목	기본정보 상세정보 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표IPC 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 공고번호, 공고일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표출원인, 출원인국적, 출원인주소, 발명자, 발명자E, 발명자코드, 발명자주소, 발명자 우편번호, 발명자국적, 대표IPC, IPC코드, 요약, 미국특허분류, 대리인주소, 대리인코드, 대리인(한글), 대리인(영문), 국제공개일자, 국제공개번호, 국제출원일자, 국제출원번호, 우선권, 우선권주장일, 우선권국가, 우선권출원번호, 원출원일자, 원출원번호, 지정국, Citing Patents, Cited Patents
저장형식	Text(ASCII format) Excel format PIAS분석(.xls)
메일정보	받는사람 (필수) @ 보내는사람 (선택) @ 제목 내용 KISTI 검색결과 이메일 서비스
안내	총 건의 자료가 검색되었습니다. 다운받으실 자료의 인덱스를 입력하세요. (1-10,000) 검색결과의 순서대로 최대 10,000건 까지 다운로드가 가능합니다. 데이타가 많을 경우 속도가 느려질 수 있습니다.(최대 2~3분 소요) 다운로드 파일은 UTF-8 형태로 저장됩니다. 파일의 내용이 제대로 보이지 않을실 때는 웹브라우저 상단의 보기 -> 인코딩 -> 자동선택 여부를 확인하십시오. ~ Text(ASCII format) Excel format

연합인증

[미국특허] Hardware abstraction layer for a robot 원문보기

초록 ▼

대표청구항 ▼

연구과제 타임라인

이 특허에 인용된 특허 (12) 인용/피인용 타임라인 분석

이 특허를 인용한 특허 (56) 인용/피인용 타임라인 분석

활용도 분석정보

활용도 Top5 특허

관련 콘텐츠

특허 원문 보기

IPC 상위 출원인

AI-Helper ※ AI-Helper는 오픈소스 모델을 사용합니다.

선택된 텍스트

연합인증

[미국특허] Hardware abstraction layer for a robot 원문보기

초록 ▼

대표청구항 ▼

연구과제 타임라인

전체(0) 논문(0) 특허(0) 보고서(0)

전체(0) 논문(0) 특허(0) 보고서(0)

이 특허에 인용된 특허 (12) 인용/피인용 타임라인 분석

이 특허를 인용한 특허 (56) 인용/피인용 타임라인 분석

활용도 분석정보

활용도 Top5 특허 더보기

관련 콘텐츠

특허 원문 보기

IPC 상위 출원인

AI-Helper ※ AI-Helper는 오픈소스 모델을 사용합니다.

선택된 텍스트

활용도 Top5 특허