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Application specific programming languages and tools for robotics

Geoffrey Biggs and Bruce MacDonald

Robotics Research GroupDepartment of Electrical and Computer Engineeringhttp://robotics.ece.auckland.ac.nz

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Outline

Problem descriptionLiterature surveyTools standardisationConclusions

Robotics Lab

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Problem Description

How to describe Robot behaviour?Robot programming is not identical to programming in other domainsMany tools involved in the programming process

Integrated Development EnvironmentsDebuggersProgramming languagesLibrariesSoftware architecturesHuman Robot Interaction tools...

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Problem Description ...

Goal: useful robotic assistants for humansPreviously:

Some work on CORBA frameworks for RoboticsDynamic software reconfiguration for robot softwareContributions to Player 2

Today: programming language and tools

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Existing RobotProgramming Systems

Manual and automatic programming distinguished by the method usedSoftware architectures provide the underlying support and access to the hardware

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Manual Methods

Program is created by handText or graphical methods of inputFinished program loaded onto robot (or simulation) for testing

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Controller-SpecificLanguages

e.g. ABB, KUKACommon on industrial robotsProprietaryMost advances in design focussed on the programing environment

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Generic Languages

Generic language extended with robot-specific capabilities

e.g. C++, Java, PythonOften used in research environmentsRobot abstractions common

e.g. Player, CARMEN, OrcaObject oriented concepts popular

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Behaviour-BasedLanguages

Reactive rather than deliberativeSubsumption's Behaviour LanguageFunctional Reactive Programming

e.g. Yampa, FrobrcFollowLeftWall :: Velocity->Distance->SimbotControllerrcFollowLeftWall v d _ = proc sbi -> do

let r = rfLeft sbidr <- derivative -< rlet omega = kp*(r-d) + kd*dr

kd = 5kp = v*(kd^2)/4

returnA -< mrFinalize (ddVelTR v (lim 0.2 omega))

Yampa [Hudak et al., 2003]

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Graphical Programming

Uses a GUI with icons, flow charts, ...e.g. LabVIEW, LEGO Mindstorms

Easy to useNot very flexibleRapid construction of small programsDoes not scale up well

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Graphical Programming

LEGO Mindstorms Programming Environment [Lego, 2003]

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Automatic Methods

Program code generated from information supplied

eg part dimensions, demonstrationsGenerally requires a robot to be running at the time of program generationTraditionally referred to as “online”programming systems

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Automatic Methods

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Programming by Demonstration

Commonly used in industrial robots to set joint positions, path nodes, etcOriginally pure imitationCommon research directions include

Determining programmer intentGenerating plans from demonstrated dataNew input methods, e.g. voice, vision, gesturesSensor data interpretation

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Instructive Systems

Provide control over robots with existing behavioursMulti-modal inputHuman as an instructor (robot as pupil)Great potential for high-level, natural control

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Standardising the Tools

Standardising robot programming tools is as important as standardising APIs and safety aspectsCannot create a single standard tool that everyone uses

Variations in programmer needs, project needs, etcInstead: standardise important features and interfaces

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Standardising the Tools

Mainstream programming languages developed common features over time

VariablesFunctions, methodsCommon numeric types (int, float, string, ...)Object orientationPatternsArchitecturesTechnologies

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Standardising the Tools

Programming environments also developed common features over time

Graphical debuggers• Watch points, break points, variable views, etc

Intelligent code completionCode refactoringGraphical layout tools for designing GUIs

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Standardising the Tools

Robot programming tools must similarly develop common featuresAlready some common features are appearing

Modular architecturesCompatible interfaces for components with similar functionality

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Standardising the Tools

What common features should we expect to find in a robot programming environment?

Suitable programming language constructs that do not rely on a particular architectureLibraries of common functionalityRobotics support in IDEs

• Including Visualisation & InteractionSimulatorModular architectureCommon component interfaces...

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Eg: Dimensioned Data Support (Biggs)

Dimensioned data found everywhere in roboticsUse a new data type to manage dimensioned dataLinks data values to real world values that are important in roboticsProvide support for dimensional analysis

Allows mixing of units

3 m 5 rad 2 m/s^2

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Example: Dimensioned Data Support

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Reactivity Management Constructs (Biggs)

Allow programmers to specify reactive and deliberative components with one languageProvide direct syntax for the unique semantics of specifying reactivity

Specifying events and responsesSpecifying connections between them

Remove the barrier between reactive and deliberative components of robot softwareIncrease readability, writability; ease maintenance

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6 event NearWall (sonar):for range in sonar.ranges:

if range < 0.25~m:returnVal = range.indextrigger

event HitWall (bumpers):for bumper in bumpers:

if bumper == 1:trigger

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6 response UpdatePlayer (setSpeedFunc, speed):while True:setSpeedFunc (speed.getval ()[0],

speed.getval ()[1])sleep (0.05~s)

response Drive (speed):speed.setval (0.5~m/s, 0~rad/s)while True:sleep (0.5~s)interrupt

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Robotic IDE (Gumbley, et al)

Eclipse plugin for robotic programmingSpys on Player client communicationsDisplays visualisations inside IDE

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Example: Robot IDE Features

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Robot Debugging Tools(Collett)

Augmented reality for interacting with robotsTargeted at developersDebugging space with tracking, plus Head mounted display OR large plasma display

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Conclusions

Robot programming tools should have common, important features

Should expect to find them in any good robot programming environment

Common features must support the unique nature of robot programmingDimensions, visualisations, real world geometry, robot algorithms and estimates, ...

Focus on enabling humans to describe robot behaviour