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http://dx.doi.org/10.5302/J.ICROS.2005.11.12.1051

Implementation of Ubiquitous Robot in a Networked Environment  

Kim Jong-Hwan (한국과학기술원 전자전산학과)
Lee Ju-Jang (한국과학기술원 전자전산학과)
Yang Hyun-Seng (한국과학기술원 전자전산학과)
Oh Yung-Hwan (한국과학기술원 전자전산학과)
Yoo Chang-Dong (한국과학기술원 전자전산학과)
Lee Jang-Myung (부산대학교 전자공학과)
Lee Min-Cheol (부산대학교 기계공학과)
Kim Myung-Seok (한국과학기술원 산업디자인과)
Lee Kang-Hee (한국과학기술원 전자전산학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.11, no.12, 2005 , pp. 1051-1061 More about this Journal
Abstract
This paper proposes a ubiquitous robot, Ubibot, as an integration of three forms of robots: Software robot (Sobot), Embedded robot (Embot) and Mobile robot (Mobot). A Sobot is a virtual robot, which has the ability to move to any place or connect to any device through a network in order to overcome spatial limitations. It has the capacity to interpret the context and thus interact with the user. An Embot is embedded within the environment or within physical robots. It can recognize the locations of and authenticate the user or robot, and synthesize sensing information. Also it has the ability to deliver essential information to the user or other components of Ubibot by using various types of output devices. A Mobot provides integrated mobile service. In addition, Middleware intervenes different protocols between Sobot, Embot, and Mobot in order to incorporate them reliably. The services provided by Ubibot will be seamless, calm and context-aware based on the combination of these components. This paper presents the basic concepts and structure of Ubibot. A Sobot, called Rity, is introduced in order to investigate the usability of the proposed concepts. Rity is a 3D synthetic character which exists in the virtual world, has a unique IP address and interacts with human beings through Vision Embot, Sound Embot, Position Embot and Voice Embot. Rity is capable of moving into a Mobot and controlling its mobility. In doing so, Rity can express its behavior in the virtual world, for example, wondering or moving about in the real world. The experimental results demonstrate the feasibility of implementing a Ubibot in a networked environment.
Keywords
ubiquitous robot; software robot; embedded robot; mobile robot; middleware; context-aware; calm; seamless;
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