Robotic Control

Abstract

Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for receiving, by one or more non-real-time processors, data defining a light illumination pattern for a robotic device. Generating, by the one or more non-real-time processors and based on the data, a spline that represents the light illumination pattern, where a knot vector of the spline defines a timing profile of the light illumination pattern. Providing the spline to one or more real-time processors of the robotic system. Calculating, by the one or more real-time processors, an illumination value from the spline at each of a plurality of time steps. Controlling, by the one or more real-time processors, illumination of a lighting display of the robotic system in accordance with the illumination value of the spline at each respective time step.

What is claimed is: 
     
         1 . A method of controlling a robotic system, the method comprising:
 receiving, by one or more processors of the robotic system, a spline that represents a motion pattern, wherein a knot vector of the spline defines a timing profile that represents timing of the motion pattern;   determining, by the one or more processors of the robotic system and based on the knot vector, a position value of the spline for each of a plurality of time steps; and   controlling, by the one or more processors of the robotic system, a movement of the robotic system in accordance with the position value of the spline determined for each of the plurality of time steps.   
     
     
         2 . The method of  claim 1 , wherein the spline is defined by an animation file. 
     
     
         3 . The method of  claim 1 , wherein the spline is defined by programing code describing the motion pattern by defining a series of positions for a component of the robotic system. 
     
     
         4 . The method of  claim 3 , wherein the programing code includes transition types indicating characteristics of how the robotic system should move the component between respective positions. 
     
     
         5 . The method of  claim 3 , wherein the programing code includes an indication of a time dependent transition between two respective position values of the spline. 
     
     
         6 . The method of  claim 1 , wherein the knot vector of the spline mathematically represents time dependent transitions between respective position values of the spline. 
     
     
         7 . The method of  claim 1 , wherein the knot vector of the spline mathematically represents characteristics of the movement of the robotic system between respective position values of the spline. 
     
     
         8 . The method of  claim 7 , wherein the characteristics of the movement include one or more of a velocity, an acceleration, or a jerk of the robotic system. 
     
     
         9 . The method of  claim 1 , further comprising receiving a second spline that represents a lighting pattern synchronized with the motion pattern, and wherein the method further comprising controlling a lighting effect of the robotic system based on the second spline. 
     
     
         10 . A robotic system comprising:
 a real-time processing system; and   one or more storage devices storing instructions that are operable, when executed   
       by the real-time processing system, to cause real-time processing system to perform real-time 
       operations comprising:
 receiving a spline that represents a motion pattern, wherein a knot vector of the spline defines a timing profile that represents timing of the motion pattern; 
 determining, based on the knot vector, a position value of the spline for each of a plurality of time steps; and 
 controlling a movement of the robotic system in accordance with the position value of the spline determined for each of the plurality of time steps. 
 
     
     
         11 . The robotic system of  claim 10 , wherein the spline is defined by an animation file. 
     
     
         12 . The robotic system of  claim 10 , wherein the spline is defined by programing code describing the motion pattern by defining a series of positions for a component of the robotic system. 
     
     
         13 . The robotic system of  claim 12 , wherein the programing code includes transition types indicating characteristics of how the robotic system should move the component between respective positions. 
     
     
         14 . The robotic system of  claim 12 , wherein the programing code includes an indication of a time dependent transition between two respective position values of the spline. 
     
     
         15 . The robotic system of  claim 10 , wherein the knot vector of the spline mathematically represents time dependent transitions between respective position values of the spline. 
     
     
         16 . The robotic system of  claim 10 , wherein the knot vector of the spline mathematically represents characteristics of the movement of the robotic system between respective position values of the spline. 
     
     
         17 . The robotic system of  claim 16 , wherein the characteristics of the movement include one or more of a velocity, an acceleration, or a jerk of the robotic system. 
     
     
         18 . The robotic system of  claim 10 , the operations further comprising receiving a second spline that represents a lighting pattern synchronized with the motion pattern, and wherein the operations further comprising controlling a lighting effect of the robotic system based on the second spline. 
     
     
         19 . One or more storage devices storing instructions that are operable, when executed by a real-time processing system, to cause real-time processing system to perform real-time 
       operations comprising:
 receiving a spline that represents a motion pattern, wherein a knot vector of the spline defines a timing profile that represents timing of the motion pattern; 
 determining, based on the knot vector, a position value of the spline for each of a plurality of time steps; and 
 controlling a movement of a robotic system in accordance with the position value of the spline determined for each of the plurality of time steps. 
 
     
     
         20 . The one or more storage devices of  claim 19 , the operations further comprising receiving a second spline that represents a lighting pattern synchronized with the motion pattern, and wherein the operations further comprising controlling a lighting effect of the robotic system based on the second spline.