RTM (Robot Technology Middleware) Based Dynamic Interrupt System for Communication Between Humans and Robots
Hai An Vu, Fangyan Dong, and Kaoru Hirota
Department of Computational Intelligence and Systems Science, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, G3-49, 4259 Nagatsuta, Midori-ku, Yokohama 226-8502, Japan
A dynamic fuzzy interrupt system is proposed to optimize responsiveness of robots in humans-robots communication. The system guarantees a continuous and efficient human-robot interaction by assigning priority to the given instruction and it remains immune to distractions caused by conflicting instructions. The system is embedded in the robot technology components that are able to implement by different programming languages, under the different operating system. Experiments to simulate actions of mascot robot system such as the eye robot, mobile robot, and information retrieval engine involving 10,000 instructions show a 14% improvement in the system responsiveness and a delay time of less than 2 seconds. The implementation of home party scenario between four humans (a host and three guests) and five eye robots shows the affective communication, and confirms to facilitate casual communication between humans and robots with limited interruption.
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