NBHA - a distributed network-based humanoid software architecture

Abstract

Humanoids have a large set of basis behaviors and could perform various tasks. Controlling a humanoid with many degrees of freedom and behaviors consumes a lot of resources. By exploring the external service servers on the network, the ability of a humanoid is extendable beyond its resource constrains. This system is named network-based humanoid. In this paper, the network-based humanoid architecture (NBHA) is proposed to provide a core framework to develop this network-based humanoid system. It creates a system where humans, robots, and external service servers can interact without complicated configuration. Using this architecture, behaviors can be created, added and removed dynamically. A number of experiments have been conducted successfully by using JadeLeap middleware, FIPA standard and JESS rule engine on our humanoid. Experimental results show that the proposed architecture provides the extendable behavior control system in the network environment, decreases the development time for adding new services and it decreases the time for network connection of robots and user devices