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Development of Component Based Middleware for Intelligent Robot Software

Article of Honda R&D Technical Review Vol.26 No.2

Summary

As robots become more intelligent, the software systems for realizing functions are becoming larger and more complex. This makes the use of component based middleware an effective means of design by dividing the overall system into function units (components) and then joining these components with the appropriate interfaces.
Intelligent robot software systems require composite components and finite-state machine components. The issues when developing middleware are the ability to synchronize these components to specific timings, and guaranteeing hard real time performance of minimum and predictable processing times including communication so that processing can finish in a certain sequence within a certain time.
This paper introduces Honda Robotic Technology Middleware, which is original component based middleware developed to address the above issues.
In consideration of use by outside organizations, the middleware specifications comply with the Robotic Technology Component specification formulated by the Object Management Group, which is an international standards organization. In addition, work is underway within the Object Management Group to standardize the original expanded specification.

Reference

(1) Hirose, M., Takenaka, T.: Development of the Humanoid Robot ASIMO, Honda R&D Technical Review, Vol. 13, No. 1, p. 1-6
(2) Shigemi, S., Kawaguchi, Y., Yoshiike, T., Kawabe, K., Ogawa, N.: Development of New ASIMO, Honda R&D Technical Review, Vol. 18, No. 1, p. 38-44
(3) Shigemi, S., Kawabe, K., Nakamura, T.: Development of New ASIMO - Realization of Autonomous Machine -, Honda R&D Technical Review, Vol. 24, No. 1, p. 37-45
(4) Ando, N., Sehiro, T., Kotoku, T.: A Software Platform for Component Based RT-System Development: OpenRTM-aist, International Conference on SIMULATION, MODELING and PROGRAMMING for AUTONOMOUS ROBOTS (SIMPAR 2008), p. 87-98 (2008)
(5) http://www.omg.org/
(6) http://www.omg.org/spec/RTC
(7) http://www.omg.org/spec/CORBA
(8) http://www.ros.org/
(9) http://www.dh.aist.go.jp/jp/research/assist/ART-Linux//
(10) http://www.ros.org/reps/rep-0003.html
(11) Bruyninckx, H.: Open Robot Control Software: the OROCOS project, Proceedings of the 2001 IEEE International Conference on Robotics and Automation, Vol. 3, p. 2523–2528 (2001)
(12) http://www.omg.rg/spec/UML
(13) http://daqmw.kek.jp/
(14) http://www.sec.co.jp/robot/openrtmnet/introduction.html
(15) http://www.gostai.com/products/rtc/

Author (organization or company)

Makoto SEKIYA(Fundamental Technology Research Center)、Norio NEKI(Fundamental Technology Research Center)、Zenta MIYASHITA(Fundamental Technology Research Center)、Nobuyuki ONO(Fundamental Technology Research Center)

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