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http://dx.doi.org/10.5302/J.ICROS.2004.10.9.816

Dynamically Reconfigurable Personal Robot Platform  

Roh Se-gon (성균관대학교)
Park Kiheung (성균관대학교)
Yang Kwangwoung (한국생산기술연구원)
Park Jinho (성균관대학교)
Oh Ki Yong (성균관대학교)
Kim Hongseok (한국생산기술연구원)
Lee Hogil (한국생산기술연구원)
Choi Hyoukryeol (성균관대학교)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.10, no.9, 2004 , pp. 816-824 More about this Journal
Abstract
In this paper, the framework for accelerating the development of personal robots is presented, which includes the technology such as modularization with its own processing and standardization open to the other developers. Its basic elements are Module-D(Module of DRP I) characterized functionally and VM-D(Virtual Machine of DRP I) arbitrating Module-Ds. They can suggest the effective ways for integrating various robotic components and interfacing among them. Based on this framework, we developed a fully modularized personal robot called DRP I(Dynamically Reconfigurable Personal robot). Its hardware components are easily attached to and detached from the whole system. In addition, each software of the components is functionally distributed. For the materialization of the proposed idea, we mainly focus on the dynamically reconfigurable feature of DRP I.
Keywords
personal robot; standardization; reconfigurable robot; virtual machine; module;
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