RoboSync: Efficient Real-Time Operating System for Social Robots with Customizable Behaviour

Introduction

The field of Human-Robot Interaction (HRI) is vital in numerous applications, including healthcare, education, and personal assistance. Traditional robotics systems pose a high barrier to entry because they often require specialized technical know-how for customization and implementation. Social HRI applications have a specific need for platforms where users can conveniently define and modify robot behaviors and emotional responses. To reconcile the demand for simplicity in customization with the need for real-time performance and robustness, a new operating system called RoboSync has been proposed. This real-time operating system (RTOS) is designed with multi-level abstraction layers to streamline the creation and customization process for deploying social robots in various settings.

System Architecture

RoboSync structures its architecture to cater to specific functions within HRI applications. The operating system's modular design allows for ease of modification and independent updating of system components. Modules are designated for behavior modeling, machine learning plugin configuration, and high-level sensor mapping, governed by an efficient scheduler and a robust communication layer to manage data transfers and timely responses. Safety is a top priority, with integrated functions ensuring quick adaptation and preemptive reactions in critical situations.

Implementation and Customization

RoboSync's RTOS encourages customization through the use of configuration files and a domain-specific language (DSL), which provides a user-friendly method for programming robotic behaviors. The Behavior Modeling Module uses intuitive constructs that allow for simple programming of complex behaviors, capitalizing on sensor input. A standout feature of RoboSync is the ability for users to define robot behaviors and sensor checks easily. This not only simplifies the development process but also expands the system's accessibility to non-experts in robotics programming. The implementation of this RTOS has been tested on a CortexM4 microcontroller, demonstrating its viability in various simple-to-implement social robotics applications.

Scheduler and Communication Layer

Critical to system efficiency, the scheduler categorizes and assigns priorities to threads based on their functions and user-defined behaviors. It employs adaptive scheduling techniques to adjust priorities in real-time, based on user interactions. Safety checks are given the utmost priority to ensure immediate responses in precarious situations. The communication and synchronization layer is optimized for microcontroller environments, leading to quick information transfer and minimal latency. This layer also features a structured hierarchy that escalates from sensor to behavior management, ensuring clear data paths and prioritized safety alerts.

Conclusion

RoboSync's RTOS presents an innovative solution that breaks down technical barriers and democratizes the programming of social robots for HRI applications. The system architecture's focus on user-friendliness does not compromise on robustness or the ability to perform in real-time scenarios, demonstrating a balance that is crucial in a broad range of applications. Further enhancements to the system's modularity and performance evaluations will be part of future development efforts, as feedback from diverse usage scenarios is considered. This RTOS sets a new standard for accessibility and potential user engagement in the field of HRI.