ALMotion - Overview
Pepper only
ALDiagnosis can detect different types of hardware problems, and for each of them triggers an appropriate Rest reflex.
For further details, see: Rest reflexes.
The following table lists the hardware problems detected by ALDiagnosis, the corresponding Rest reflex and the permanent effect of the problem on ALMotion. The permanent effect stays until the error disappears.
Diagnosis type | Device | Error type | Rest reflex | Permanent effect |
---|---|---|---|---|
Motor Temperature | Wheels | Status 2 | Wheel - safe resting | Moves are forbidden. |
Status 3 | Wheel - immediate resting | Moves are forbidden. | ||
Leg | Status 2 | Body - safe resting | Wake up is forbidden. | |
Status 3 | Body - safe resting, immediate on Leg | Wake up is forbidden. | ||
Arms or Head | Status 2 | Chain - safe resting | Chain stiffness is kept at 0. | |
Status 3 | Chain - immediate resting | Chain stiffness is kept at 0. | ||
Motor board passive diagnosis | Wheels | NACKs or error code | Wheel - immediate resting | Moves are forbidden. |
Leg | Body - immediate resting | Wake up is forbidden. | ||
Arms or Head | Chain - immediate resting | Chain stiffness is kept at 0. | ||
Motor board active diagnosis | Wheel | Joint position error | Wheel - immediate resting | Moves are forbidden. |
Leg | Body - safe resting | Wake up is forbidden. | ||
Arms or Head | Chain - safe resting | Chain stiffness is kept at 0. | ||
Sensor Temperature | Fuse | Status 2 | Body - safe resting, immediate on arms | Wake up is forbidden. |
Status 3 | Body - immediate resting | Wake up is forbidden. | ||
Battery | Status 2 | Body - safe resting | Wake up is forbidden. | |
Status 3 | Body - immediate resting | Wake up is forbidden. | ||
Sensor passive diagnosis | HAL | Crashed | Body - immediate resting | Wake up is forbidden. |
ChestBoard | USB disconnection | Body - immediate resting | Wake up is forbidden. | |
Brake | Stays close | Body - immediate resting | Wake up is forbidden. | |
Stays open | Body - safe resting | Wake up is forbidden. | ||
Sensor active diagnosis | Brake | Not functioning | Body - safe resting | Wake up is forbidden. |
Elastomere | Not functioning | |||
Laser | Freeze | |||
2D Camera | Not responding | |||
3D Camera | Not responding | |||
Audio | Not functioning | |||
Inertial | Not responding | |||
Sonar | Freeze | No effect | ||
Bumper | Blocked |
The Rest reflexes is a set of ALMotion protections automatically triggered when ALDiagnosis detects a problem with the robot hardware.
The Rest reflexes guarantee that the robot will not hurt people or damage itself because of hardware contingencies, while having minimum impact on the robot behavior.
Different Rest reflexes can be triggered by ALDiagnosis. The following table lists the reflexes and describes their behavior.
Name | Behavior |
---|---|
Wheels - Safe resting | The wheels are stopped gently. |
Wheels - Immediate resting | The wheels are stopped immediately. |
Chain - Safe resting | The chain goes to a safe posture, then chain stiffness is set to 0. Chain can be “RArm”, “LArm”, “Head”. |
Chain - Immediate resting | The chain stiffness is set to 0 immediately. Chain can be “RArm”, “LArm”, “Head”. |
Body - Safe resting | The wheels are stopped gently. The robot goes to a safe posture, then stiffness is set to 0. |
Body - Immediate resting | The wheels are stopped immediatly. The robot stiffness is set to 0 immediately. |
Body - Slumping and resting | The wheels are stopped gently. The robot goes to a safe Crouch posture, then stiffness is set to 0. |
Body - Safe resting, Immediate on Arms | The wheels are stopped gently. Arm stiffness is set to 0 immediately. The leg and head go to a safe posture then stiffness is set to 0. |
Body - Safe resting, Immediate on Leg | The wheels are stopped immediatly. Leg stiffness is set to 0 immediately. The arms and head go to a safe posture then stiffness is set to 0. |