Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2004.10.12.1264

Development of Software Architecture for Modular Personal Robot  

Kim Hong-Seok (한국생산기술연구원 제어·지능연구팀)
Yang Kwang-Woong (한국생산기술연구원 제어·지능연구팀)
Choi Moo-Sung (한국생산기술연구원 운동메카니즘연구팀)
Won Dae-Heui (한국생산기술연구원 제어·지능연구팀)
Lee Ho-Gil (한국생산기술연구원 로봇기술개발본부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.10, no.12, 2004 , pp. 1264-1270 More about this Journal
Abstract
In this paper, a standard robot design methodology is suggested and a software architecture for modular robot is introduced. The robot is modularized by several functions, and the module is produced according to a standard proposal. Each module requires standard interface for communicate in distributed environments. Software architecture was developed to support distributed component environment, and application development support tools are developed for user convenience. Many robot softwares are developed in a library form so that, they are being used widely robot application software development. Also a device driver was developed for the mostly used sensor and actuator. It is verified that the modular robot can be applied in various fields through guide, errand and guard scenario.
Keywords
module; software component; standard interface; personal robot; software architecture;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 S.-W. Ryu, K. W. Yang, H.-S. Kim, H.-G. Lee, 'Functionally distributed modular robot system using virtual machine,' Proceedings of ICCAS, pp. 2330-2335, Oct. 16-19, 2002, Muju, Korea
2 '표준형 로봇디자인센터(Robot Desing Center)의 프레임워크 개발,' 제2회 퍼스널로봇 기반기술개발 Workshop, pp. 175-193, 2003
3 M. Fujita and K. Kageyama, 'An open architecture for robot entertainment,' Proc. International Conference on Autonomous Agents, pp.435-440, 1997   DOI
4 http://www.evolution.com/
5 G. Yoon, H. Y. Kim, J. S. Lee, H. S. Kim, H. S. Park, 'Middleware structure for personal robot,' ICCAS, pp. 153-157, 2003. 6
6 K. W. Yang, H.-S. Kim, Jaehyun Park, 'A virtual machine for modularized personal robot controller,' Proceedings of ICCAS, pp. 2170-2173, Oct. 16-19, 2002, Muju, Korea
7 윤건, 김형육, 박홍성, '모듈 기반 퍼스널 로봇을 위한 미들웨어 구조,' 제어.자동화.시스템공학 논문지, 제10권, 제5호, pp. 464-474, 2004. 5   과학기술학회마을
8 H. G. Kim, D. W. Kim, HongSeok Kim, and Hogil Lee, 'Toward the personal robot software framework,' ICCAS Conf., pp. 2307-2312, 2002
9 S. G. Roh, K.H. Park, K.W. Yang, J.H. Park, H.S. Kim, H.G. Lee and H.R. Choi, 'Dynamic infrastructure for personal robot : dynI,' ICCAS, pp. 2039 - 2044, 2003
10 M. Mizukawa, H. Matsuka, T. Koyama, A. Matsumoto, 'ORiN: open robot interface for the network, a proposed standard,' Industrial Robot, vol. 27 no. 5, pp. 344-350, September 2000   DOI   ScienceOn
11 M. Mizukawa, H. Matsuka, T. Koyama, T. Inukai, A. Noda, H. Tezuka, Y. Noguchi, and N. Otera, 'ORiN: open robot interface for the network, the standard network interface for industrial robots and its applications,' ISR, 2002
12 M. Mizukawa, T. Koyama, T. Ihukai, A. Noda, N. Kanamaru, Y. Noguchi and N. Otera, 'Proposal of open-network-interface for industrial robots (ORiN) and its experimental evaluation,' Proceedings of the 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, vol. 2, pp. 689-694 , July 2001   DOI
13 'Common object request broker architecture: core Specification,' OMG, March 2004
14 Markus Horstmann and Mary Kirtland, 'DCOM architecture,' MSDN, July 1997
15 http://www.us.aibo.com
16 http://www.sony.co.jp/en/SonyInfo/News/Press/200203/020319E/
17 S. G. Roh, S. M. Baek, D. H. Lee, K. H. Park, T. K. Moon, S.W. Ryew, J. Y. Kim, T. Y. Kuc, H. S. Kim, H. G. Lee, H. R. Choi, 'Development of personal robot platform: approach for modular desing,' ICCAS, pp. 2313-2318, October 2002
18 S. G. Roh, K. H. Park, K. W. Yang, H. S. Kim, H. G. Lee, and H. R. Choi, 'Development of dynamically reconfigurable personal robot,' ICRA, pp. 4023-4028, 2004