Device Distributed Approach to Expandable Robot System Using Intelligent Device with Super-Microprocessor

Kei Okada; Akira Fuyuno; Takeshi Morishita; Takashi Ogura; Yasumoto Ohkubo; Yasuyuki Kino; Masayuki Inaba; Hirochika Inoue

doi:10.20965/jrm.2004.p0208

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JRM Vol.16 No.2 pp. 208-216

doi: 10.20965/jrm.2004.p0208

(2004)

Paper:

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Device Distributed Approach to Expandable Robot System Using Intelligent Device with Super-Microprocessor

Kei Okada^, Akira Fuyuno^, Takeshi Morishita^*,**,
Takashi Ogura^, Yasumoto Ohkubo^, Yasuyuki Kino^,
Masayuki Inaba^, and Hirochika Inoue^*

^*Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

^**Kanagawa Prefectural Sagamidai Technical High School, 1-11-1 Sagamidai, Bunkyo, Kanagawa 228-0807, Japan

Received:

October 20, 2003

Accepted:

December 5, 2003

Published:

April 20, 2004

Keywords:

robot system, intelligent device unit, sensors, actuators, small humanoid robot

Abstract

Conventional robot system design is either classified as a built-in centralized approach in which one processor on a robot controls all devices or as a module distributed approach in which several processors in a built-in network communicate and each processor controls several devices. The built-in centralized approach is limited by the number of devices on the robot. The module distributed approach has no such limitation, but requires changes in software or built-in network topology when devices are added. This paper describes a device distributed approach to realize a simple, expandable robot system that enables a number of devices to be attached or added to a built-in robot without significant changes to software and hardware. The robot system based on a device distributed approach consists of a serial bus connected to intelligent devices. Each device such as sensors and actuators has a processor for communication and calculation, so devices are added by connecting them to the serial network. We developed intelligent servos and intelligent sensors as prototypes of intelligent devices using super microprocessors with a 3×3 mm footprint, and build small humanoid robots to confirm the expandability of a robot, in which intelligent servos realize a wiring saving robot, a many DOF robot, and easy device addition.

Cite this article as:

K. Okada, A. Fuyuno, T. Morishita, T. Ogura, Y. Ohkubo, Y. Kino, M. Inaba, and H. Inoue, “Device Distributed Approach to Expandable Robot System Using Intelligent Device with Super-Microprocessor,” J. Robot. Mechatron., Vol.16 No.2, pp. 208-216, 2004.

Data files:

References

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[2] K. Nishiwaki, T. Sugihara, S. Kagami, F. Kanehiro, M. Inaba, H. Inoue, “Design and Development of Research Platform for Perception-Action Integration in Humanoid Robot : H6,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’00), pp. 1559-1564, 2000.
[3] H. Inoue, S. Tachi et al., “HRP: Humanoid robotics project of MITI,” Proceedings of the First IEEE-RAS International Conference on Humanoid Robots, Cambridge, MA, September 2000.
[4] T. Shibata, Y. Matsumoto, T. Kuwahara, M. Inaba, H. Inoue, “Hyper Scooter: a Mobile Robot Sharing Visual Information with a Human,” In Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA’95), pp. 1074-1079, 1995.
[5] S. Yuta, S. Suzuki, S. Iida, “Implementation of a small size experimental selfcontained autonomous robot: sensors, vehicle control and description of sensor behavior,” Proceedings of 2nd International Symposium on Experimental Robotics, pp. 25-27, 1991.
[6] M. Inaba, “Remote-brained humanoid project,” Advanced Robotics, Vol.11, No.6, pp. 605-620, 1997.
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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] S. Kagami, K. Okada, M. Kabasawa, Y. Matsumoto, A. Konno and M. Inaba, H. Inoue, “A Vision-based Legged Robot as a Research Platform Proc. of International Conference on Intelligent Robots and Systems (IROS’98),” pp. 235-240, 1998.

[2] [2] K. Nishiwaki, T. Sugihara, S. Kagami, F. Kanehiro, M. Inaba, H. Inoue, “Design and Development of Research Platform for Perception-Action Integration in Humanoid Robot : H6,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’00), pp. 1559-1564, 2000.

[3] [3] H. Inoue, S. Tachi et al., “HRP: Humanoid robotics project of MITI,” Proceedings of the First IEEE-RAS International Conference on Humanoid Robots, Cambridge, MA, September 2000.

[4] [4] T. Shibata, Y. Matsumoto, T. Kuwahara, M. Inaba, H. Inoue, “Hyper Scooter: a Mobile Robot Sharing Visual Information with a Human,” In Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA’95), pp. 1074-1079, 1995.

[5] [5] S. Yuta, S. Suzuki, S. Iida, “Implementation of a small size experimental selfcontained autonomous robot: sensors, vehicle control and description of sensor behavior,” Proceedings of 2nd International Symposium on Experimental Robotics, pp. 25-27, 1991.

[6] [6] M. Inaba, “Remote-brained humanoid project,” Advanced Robotics, Vol.11, No.6, pp. 605-620, 1997.

[7] [7] M. Fujita, K. Kageyama, “An Open Architecture for Robot Entertainment,” Proc. of Int. Conf. on Autonomous Agents, pp. 435-442, 1997.

[8] [8] N. Yamasaki, “Design and implementation of responsive processor for parallel/distributed control and its development environments,” Journal of Robotics and Mechatronics, vol.13, pp. 125-133, 9 2001.

[9] [9] K. Koyasako, I. Mizuuchi, M. Inaba, H. Inoue, “Development of Small Processor Modules for the On-Body LAN of a Full-Body Robot Proceedings of the 15th Annual Conference of RSJ,” pp. 1021-1022, 1997. (in Japanese)

[10] [10] T. Furuta, Y. Okumura, T. Tawara, H. Kitano, morph, “A Small-size Humanoid Platform for Behavior Coordination Research Humanoids 2001,” Waseda Univ., Nov pp. 22-24, 2001.

[11] [11] E. F. Fukushima, K. Takita, S. Hirose, T. Nakamura, “Development of a High Speed Serial I/O for Robot Control,” Proceedings of ’01 Robotics and Mechatronics, pp 1A-A1, 2001. (In Japanese)

Device Distributed Approach to Expandable Robot System Using Intelligent Device with Super-Microprocessor

Kei Okada*, Akira Fuyuno*, Takeshi Morishita*,**, Takashi Ogura*, Yasumoto Ohkubo*, Yasuyuki Kino*, Masayuki Inaba*, and Hirochika Inoue*

Kei Okada^, Akira Fuyuno^, Takeshi Morishita^*,**,
Takashi Ogura^, Yasumoto Ohkubo^, Yasuyuki Kino^,
Masayuki Inaba^, and Hirochika Inoue^*