Controller Architecture

Documentation on the IHMC controller architecture.

Transcript

1. API Input HeadTrajectoryMessage NeckTrajectoryMessage NeckDesiredAccelerationsMessage ChestTrajectoryMessage PelvisTrajectoryMessage PelvisOrientationTrajectoryMessage PelvisHeightTrajectoryMessage FootstepDataMessage FootstepDataListMessage FootTrajectoryMessage HandTrajectoryMessage ArmTrajectoryMessage ArmDesiredAccelerationsMessage StopAllTrajectoryMessage EndEffectorLoadBearingMessage GoHomeMessage WholeBodyTrajectoryMessage PauseWalkingMessage HandDesiredConfigurationMessage
2. Quick notes on messages • Before being processed by the controller, each message is validated using PacketValidityChecker to check the sanity of the data. • A message with an id == INVALID_MESSAGE_ID (= 0L) will be thrown away. • Some messages are “queue-able”, i.e. HandTrajectoryMessage, ArmTrajectoryMessage, FootTrajectoryMessage, and ChestTrajectoryMessage. By setting the message field ExecutionMode, the user can choose whether such the message should be queued or should override the message being executed.
3. Quick notes on queue-able messages • Some messages are “queue-able”: • HandTrajectoryMessage, • ArmTrajectoryMessage, • FootTrajectoryMessage, • ChestTrajectoryMessage. • By setting the message field ExecutionMode, the user can choose whether such the message should be queued or should override the message being executed.
4. Quick notes on GoHomeMessage • Some body parts can be requested to go a controller predefined home position (safe configuration) in a given time: • Arm • Chest • Pelvis • Home configurations: • Arm: the configuration that robot starts in. • Chest: upward orientation facing forward. • Pelvis: orientation leveled to the ground, facing forward, position between the feet, and height at which the robot starts in.
5. HighLevelHumanoidControllerManager Control architecture overview CommandInputManager: Input API (Thread safe) StatusMessageOutputManager: Output API (Protect controller data) ControllerNetworkSubscriber Walking controller Managers Head Chest Feet Manipulation Pelvis Balance Whole body controller core Message Status Command Controller core command Robot command Status
6. WalkingHighLevelHumanoidController overview • This is the high-level controller that deals directly with the different managers. • It has full control on each manager. • The managers cannot interact directly with the “outside world”. They interact with the walking controller which either passes or stops the flow of information.
7. Walking controller State machine<WalkingStateEnum, WalkingState> StandingState ToStandingState TransferToWalkingSingleSupportState TransferToFlamingoStanceState FlamingoStanceState WalkingSingleSupportState Walking overview Command ControllerCoreCommand Managers Interactions
8. Walking controller quick notes
9. FeetManager overview
10. Quick notes on the API • The input messages are received by the ControllerNetworkSubscriber: • A received message is first validated. • Bad messages are thrown away and the user is notified with a InvalidPacketNotificationPacket. • Good message are then passed to the CommandInputManager. • The CommandInputManager converts the messages supported by the controller into equivalent Command: • ArmTrajectoryMessage->ArmTrajectoryCommand • This conversion is to deal with implementation restrictions. • The Commands are then passed to the controller which then executes them.
11. ManipulationControlModule overview HandTrajectoryMessage ArmTrajectoryMessage ArmDesiredAccelerationsMessage EndEffectorLoadBearingMessage ManipulationControlModule left/right HandControlModule TaskspaceHandControlState JointspaceHandControlState HandUserControlModeState LoadBearingHandControlState Controller Java API Command HandTrajectoryCommand ArmTrajectoryCommand ArmDesiredAccelerationsCommand EndEffectorLoadBearingCommand Walking controller InverseDynamicsCommand, FeedbackControlCommand
12. ManipulationControlModule quick description • The ManipulationControlModule interfaces the two HandControlModules with the high-level walking controller. • The HandControlModule manages the different control modes with a state machine that changes state depending on the type of command to be executed. • The active state output is either an InverseDynamicsCommand or a FeedControlCommand that is picked by the high-level controller and later fed to the controller core.
13. TaskspaceHandControlState • Control the hand in taskspace. • It executes HandTrajectoryCommand. • Uses MultipleWaypointsOrientationTrajectoryGenerator and MultipleWaypointsPositionTrajectoryGenerator to spline through the given trajectory points. • For viewing desireds from SCS, look for: • (left|right)HandSubTrajectoryCurrent(Position|Velocity|AngularVelocity|Acceleratio n|AngularAcceleration)(X|Y|Z) • (left|right)HandSubTrajectoryCurrentOrientation(Qx|Qy|Qz|Qs) • For viewing tracking error from SCS, look for: • (hand name)RotationErrorInBody(X|Y|Z) • (hand name)PositionError(X|Y|Z) • Where hand name = (left|right)Palm for Valkyrie.
14. JointspaceHandControlState • Control the hand in jointspace. • It executes ArmTrajectoryCommand. • Uses MultipleWaypointsTrajectoryGenerator to spline through the given trajectory points. • For viewing desireds from SCS, look for: • (joint name)SubTrajectoryCurrent(Value|Velocity|Acceleration) • For viewing tracking error from SCS, look for: • (q|qd)_err_(joint name)
15. HandUserControlModeState • Give user direct access to joint desired accelerations. • It executes ArmDesiredAccelerationsCommand. • For viewing desired joint accelerations from SCS, look for: • qdd_d_user_(joint name)
16. LoadBearingHandControlState • Allow a hand to help support the robot. • It executes EndEffectorLoadBearingCommand. • This state is not reliable. We advise not using it for now.
17. HeadOrientationManager overview HeadOrientationManager TaskspaceHeadControlState JointspaceHeadControlState HeadUserControlModeState Controller Java API Command HeadTrajectoryCommand NeckTrajectoryCommand NeckDesiredAccelerationsCommand Walking controller InverseDynamicsCommand, FeedbackControlCommand HeadTrajectoryMessage NeckTrajectoryMessage NeckDesiredAccelerationsMessage
18. HeadOrientationManager quick description • The HeadOrientationManager interfaces the control modes with the high-level walking controller. • It manages the different control modes with a state machine that changes state depending on the type of command to be executed. • The active state output is either an InverseDynamicsCommand or a FeedControlCommand that is picked by the high-level controller and later fed to the controller core.
19. TaskspaceHeadControlState • Control the head in taskspace. • It executes HeadTrajectoryCommand. • Uses MultipleWaypointsOrientationTrajectoryGenerator to spline through the given trajectory points. • For viewing desireds from SCS, look for: • HeadSubTrajectoryCurrentOrientation(Qx|Qy|Qz|Qs) • HeadSubTrajectoryCurrent(AngularVelocity|AngularAcceleration)(X|Y|Z) • For viewing tracking error from SCS, look for: • (head name)RotationErrorInBody(X|Y|Z) • Where head name = upperNeckPitchLink for Valkyrie.
20. JointspaceHeadControlState • Control the head in jointspace. • It executes NeckTrajectoryCommand. • Uses MultipleWaypointsTrajectoryGenerator to spline through the given trajectory points. • For viewing desireds from SCS, look for: • (joint name)SubTrajectoryCurrent(Value|Velocity|Acceleration) • For viewing tracking error from SCS, look for: • (q|qd)_err_(joint name)
21. HeadUserControlModeState • Give user direct access to joint desired accelerations. • It executes NeckDesiredAccelerationsCommand. • For viewing desired joint accelerations from SCS, look for: • qdd_d_user_(joint name)
22. ChestOrientationManager overview ChestOrientationManager Controller Java API ChestTrajectoryCommand Walking controller OrientationFeedbackControlCommand ChestTrajectoryMessage
23. Example: HandTrajectoryMessage
24. Example: FootTrajectoryMessage
25. Example: ArmTrajectoryMessage