Development of Dynamically Reconfigurable Personal robot

摘要

Architecture and method for accelerating the development of personal robots are presented. It includes the technology such as modularization with its own processing and standardization open to other developers. We mainly focus on the effective ways for integrating the various robotic components and interfacing among them. The architecture is implemented by developing the fully modularized personal robot DRP I (Dynamically Reconfigurable Personal robot). Its hardware component is easily attached to and detached from the whole system but also each software of the components is functionally distributed. As methodology for interfacing and integration of DRP I, we introduce Module-D (Module of DRP I) characterized functionally, VM-D (Virtual Machine of DRP I) and RPL(Robot Programming Languages) for supporting compatibility of each Module-D. As experimental work, the dynamically reconfigurable feature of the robot is introduced.