Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hardware. The HAL provides a relatively...http://www.google.fr/patents/US6889118?utm_source=gb-gplus-shareBrevet US6889118 - Hardware abstraction layer for a robot
