Construction and Implementation of Software Platform in Remote-Brained Robot Approach.

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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.

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