Diagnosis effect

ALMotion - Overview

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What it does

ALDiagnosis can detect different types of hardware problems, and for each of them triggers an appropriate Rest reflex.

For further details, see: Rest reflexes.

How it works

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.

ALDiagnosis effects
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

Rest reflexes

What it does

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.

How it works

Different Rest reflexes can be triggered by ALDiagnosis. The following table lists the reflexes and describes their behavior.

Rest reflexes
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.
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