Construction and Implementation of Software Platform in Remote-Brained Robot Approach.
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- Kagami Satoshi
- Graduate School, The University of Tokyo
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- Inaba Masayuki
- Faculty of Engineering, The University of Tokyo
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- Inoue Hirochika
- Faculty of Engineering, The University of Tokyo
Bibliographic Information
- Other Title
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- リモートブレイン方式におけるソフトウェアプラットフォームの構造化と実現
- リモート ブレイン ホウシキ ニ オケル ソフトウェア プラットフォーム ノ
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Abstract
This paper describes a software framework which can support different types of bodies and behaviors with different processing times. The system we propose consists of 3 parts, “Mother, Brain, Sensor & Actuator”. Brain consists of robot behavior programs and their supporting libraries, and Sensor & Actuator consists of sensor processing and actuator control system. Mother consists of tools to produce and evolve Brain programs.<BR>In building tools and libraries for such a platform you are faced with two major problems. One is, system architecture will always have a trade-off relationship with “extensibility” and “shareablity” . The other problem you encounter is the difference in execution time between the low-level real-time reactive environment and the high-level behavioral software.<BR>In this paper we describe the methods and the software environment that we built which overcomes the problems mentioned above, based on the remote-brained robotic approach. This system enables us to develop flexible multiprocess networks made of processes with differing computing times which in turn enables the contruction of various brain architectures.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 15 (4), 550-556, 1997
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390001204725308544
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- NII Article ID
- 10007548761
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 4205135
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed