Software Interface for Hardware-independent Robot Platforms

• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Ji-Woo Park Yun-Sik Son jin-Woo Jung Se-Man Oh
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Assistive Robotics and Mechatronics Vol.9 No.4, 110~119쪽, 전체 10쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2008.12.30

영문 초록

In most research, robots have been regarded as having a complete set of functions. Such robots can fulfill only specialized roles. Accordingly, it is not possible to use these robot systems for a variety of purposes. However, if robot tools are defined as each of functional elements, robots can be repurposed for a variety of tasks. By connecting various robot tools, robots can be enabled to perform a multitude of functions. This type of robot is referred to here as a tool-based evolution robot. Tool-based evolution robots must support interfaces allowing interactive functions between robots. In this paper, a software interface for a hardware-independent robot platform is proposed. This interface offers a method to allow hardware-dependent functions between robots. The Proposed software interface is designed to consider dynamic loading/removing. The interface can support the use of hardware-dependent functions between robots. Finally, a foundation allowing dynamic addition and removal of robot components is established.

키워드

Software Platform Evolution Robot Dynamic Reconstruction Software Interface Robot Middleware