Interactive system architecture

Three Loops, Three Timescales

Robot control operates at different levels, each responsible for a different kind of decision: the high level selects the task and sequence, the mid level translates that intent into Cartesian motion targets, and the low level continuously corrects joint motion using sensor feedback. Follow the pick-and-place cycle to see how one command moves through these layers, from deciding what to do to stabilizing the physical motion.

1.0×

0.2×–3.0× visualization speed; controller rates do not change.

Coordinated pick-and-place cycle

Pulse speeds are illustrative, not literal frequency playback. Motion is paused by your system preference.

Robot control stack during a cup pick-and-place task High-level task stages select find, pick, and place. A mid-level trajectory moves the gripper from the cup to a sink. Low-level servo loops follow the moving joint targets and return sensor feedback. HIGH • 0.1–2 Hz TASK / SKILL FIND OBJECT goal / skill MID • 5–100 Hz MOTION TARGET SEARCH POSE q*, x*, τ* LOW • 100–1,000 Hz JOINT SERVOS TRACK q, q̇, τ measured q, q̇, force TASK SEQUENCE 1 • FIND 2 • PICK 3 • PLACE SINK TARGET POSE / WAYPOINT TARGETS FAST LOCAL CORRECTION AT EACH JOINT
Cycle state Find object • scanning above the source
High: deliberate Mid: responsive Low: rapid

*Typical illustrative bands, not universal boundaries. Hardware and controller partitioning vary by robot.