Hardware abstraction layer (HAL) for a robot

Details Hardware abstraction layer (HAL) for a robot Hardware abstraction layer (HAL) for a robot

2006-07-11

2006-07-11

Black, Thomas G. (Department: 3661)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S245000, C700S253000, C700S257000, C318S568110, C318S568130, C318S568220, C901S001000, C901S005000, C901S015000

Reexamination Certificate

active

07076336

ABSTRACT:
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.

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