Architecture of Network Robot Control Server Software Written in a Rule-based Language
If robots of different models are to provide the same networked robot service, it is desirable that they are able to use the same service programs. In this paper, we propose the architecture of networked robot control server software that allows the same service programs to be used by different robot models. Specifically, we define robot-model-independent common signals, and propose a robot control algorithm that focuses on “has-a relations in robot control functions. We have developed a networked robot control server that implements the proposed architecture and algorithm and uses STAR (SofTware Architecture using Rule-based language). To evaluate the proposed algorithm, we have developed an experimental system that provides a “Garbage Collection Service, and uses two robot models: AIBO and AmigoBot.
network-robot rule-based-language service program standardization
Masami Shimbuichi Kouichi Matsuoka Kazumasa Takami
Graduate School of Engineering, Soka University 1-236 Tangi-cho, Hachioji-shi, Tokyo, 192-8577 Japan
国际会议
北京
英文
373-376
2010-09-26（万方平台首次上网日期，不代表论文的发表时间）