Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Development of Software Architecture for Modular Personal Robot

모듈형 퍼스널 로봇의 소프트웨어 아키택처 개발

  • 김홍석 (한국생산기술연구원 제어·지능연구팀) ;
  • 양광웅 (한국생산기술연구원 제어·지능연구팀) ;
  • 최무성 (한국생산기술연구원 운동메카니즘연구팀) ;
  • 원대희 (한국생산기술연구원 제어·지능연구팀) ;
  • 이호길 (한국생산기술연구원 로봇기술개발본부)
  • Published : 2004.12.01
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Abstract

In this paper, a standard robot design methodology is suggested and a software architecture for modular robot is introduced. The robot is modularized by several functions, and the module is produced according to a standard proposal. Each module requires standard interface for communicate in distributed environments. Software architecture was developed to support distributed component environment, and application development support tools are developed for user convenience. Many robot softwares are developed in a library form so that, they are being used widely robot application software development. Also a device driver was developed for the mostly used sensor and actuator. It is verified that the modular robot can be applied in various fields through guide, errand and guard scenario.

Keywords

References

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