Integration of Manipulation, Locomotion, and Communication Intelligent RT Software Components for Mobile Manipulator System Using Scenario Tools in OpenRT Platform

Natsuki Yamanobe; Ee Sian Neo; Eiichi Yoshida; Nobuyuki Kita; Kazuyuki Nagata; Kazuhito Yokoi; Yosuke Takano

doi:10.20965/jrm.2010.p0322

single-rb.php

« previous

JRM Vol.22 No.3 pp. 322-332

doi: 10.20965/jrm.2010.p0322

(2010)

Paper:

Views over last 60 days: 430

Integration of Manipulation, Locomotion, and Communication Intelligent RT Software Components for Mobile Manipulator System Using Scenario Tools in OpenRT Platform

Natsuki Yamanobe^, Ee Sian Neo^, Eiichi Yoshida^,
Nobuyuki Kita^, Kazuyuki Nagata^, Kazuhito Yokoi^,
and Yosuke Takano^**

^*Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Tsukuba Central 2, Umezono, Tsukuba, Ibaraki 305-8568, Japan

^**Service Platforms Research Labs, NEC Corp.

Received:

September 30, 2009

Accepted:

February 16, 2010

Published:

June 20, 2010

Keywords:

OpenRT Platform, intelligent RT software component, system integration, application scenario

Abstract

The OpenRT Platform, an integrated development environment for component-based robot system development, is being constructed in order to enhance intelligent robot research and development efficiency. In this paper, a mobile manipulator system that can bring human indicated objects like a service dog is developed based on the OpenRT Platform. The system works with several components providing manipulation, locomotion, and communication functions developed as examples modularizing intelligent robotic functions. These components are integrated using scenario tools in the OpenRT Platform for achieving target tasks.

Cite this article as:

N. Yamanobe, E. Neo, E. Yoshida, N. Kita, K. Nagata, K. Yokoi, and Y. Takano, “Integration of Manipulation, Locomotion, and Communication Intelligent RT Software Components for Mobile Manipulator System Using Scenario Tools in OpenRT Platform,” J. Robot. Mechatron., Vol.22 No.3, pp. 322-332, 2010.

Data files:

References

[1] T. Sato and H. Hirukawa, “Intelligent RT Software Project,” Proc. of Annual Conf. of the Robotics Society of Japan, AC1F1-01, 2008. (in Japanese)
[2] N. Ando, T. Suehiro, K. Kitagaki, T. Kotoku, and W. K. Yoon, “RTMiddleware: Distributed Component Middleware for RT (Robot Technology),” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3555-3560, 2005.
[3] Object Management Group, “Robotic Technology Component Specification Version 1.0,” formal/2008-04-04.
[4] T. H. J. Collett, B. A. MacDonald, and B. P. Gerkey, “Player 2.0: Toward a Practical Robot Programming Framework,” Proc. of the Australasian Conf. on Robotics and Automation, 2005.
[5] H. Bruyninckx, “Open Robot Control Software: the OROCOS Project,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2523-2528, 2001.
[6] A. Makarenko, A. Brooks, and T. Kaupp, “Orca: Components for Robotics,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Workshop on Robotic Standardization, 2006.
[7] C. Schlegel, “A Component Approach for Robotics Software Communication Patterns in the OROCOS Context,” Autonome Mobile Systeme (AMS), Informatik aktuell, Springer, pp. 253-263, 2003.
[8] I. A. Nesnas et al., “CLARAty: Challenges and Steps Toward Reusable Robotic Software,” Int. J. of Advanced Robotic Systems, Vol.3, No.1, pp. 023-030, 2006.
[9] M. Mizukawa et al., “ORiN: Open Robot Interface for the Network. The Standard and Unified Network Interface for Industrial Robot Applications,” Proc. of SICE Annual Conf., pp. 1160-1163, 2002.
[10] J. Jackson, “Microsoft Robotics Studio: A Technical Introduction,” IEEE Robotics and Automation Magazine, Vol.14, pp. 82-87, 2007.
[11] M. Quigley et al., “ROS: An Open Source Robot Operating System,” Proc. of IEEE Int. Conf. on Robotics and Automation, Workshop on Open Source Software, 2009.
[12] Object Management Group, Common Object Request Broker Architecture (CORBA) Specification Version 3.1, formal/2008-01-04.
[13] S. Nakaoka, S. Hattori, F. Kanehiro, S. Kajita, and H. Hirukawa, “Constraint-based Dynamics Simulator for Humanoid Robots with Shock Absorbing Mechanisms,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3641-3647, 2007.
[14] Y. Takano, A. Uda, and M. Ishida, “The Design of Robot Software development kit RoboStudio,” Proc. of JSME Conf. on Robotics and Mechatronics, 1A1-L1-10, 2004. (in Japanese)

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] T. Sato and H. Hirukawa, “Intelligent RT Software Project,” Proc. of Annual Conf. of the Robotics Society of Japan, AC1F1-01, 2008. (in Japanese)

[2] [2] N. Ando, T. Suehiro, K. Kitagaki, T. Kotoku, and W. K. Yoon, “RTMiddleware: Distributed Component Middleware for RT (Robot Technology),” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3555-3560, 2005.

[3] [3] Object Management Group, “Robotic Technology Component Specification Version 1.0,” formal/2008-04-04.

[4] [4] T. H. J. Collett, B. A. MacDonald, and B. P. Gerkey, “Player 2.0: Toward a Practical Robot Programming Framework,” Proc. of the Australasian Conf. on Robotics and Automation, 2005.

[5] [5] H. Bruyninckx, “Open Robot Control Software: the OROCOS Project,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2523-2528, 2001.

[6] [6] A. Makarenko, A. Brooks, and T. Kaupp, “Orca: Components for Robotics,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Workshop on Robotic Standardization, 2006.

[7] [7] C. Schlegel, “A Component Approach for Robotics Software Communication Patterns in the OROCOS Context,” Autonome Mobile Systeme (AMS), Informatik aktuell, Springer, pp. 253-263, 2003.

[8] [8] I. A. Nesnas et al., “CLARAty: Challenges and Steps Toward Reusable Robotic Software,” Int. J. of Advanced Robotic Systems, Vol.3, No.1, pp. 023-030, 2006.

[9] [9] M. Mizukawa et al., “ORiN: Open Robot Interface for the Network. The Standard and Unified Network Interface for Industrial Robot Applications,” Proc. of SICE Annual Conf., pp. 1160-1163, 2002.

[10] [10] J. Jackson, “Microsoft Robotics Studio: A Technical Introduction,” IEEE Robotics and Automation Magazine, Vol.14, pp. 82-87, 2007.

[11] [11] M. Quigley et al., “ROS: An Open Source Robot Operating System,” Proc. of IEEE Int. Conf. on Robotics and Automation, Workshop on Open Source Software, 2009.

[12] [12] Object Management Group, Common Object Request Broker Architecture (CORBA) Specification Version 3.1, formal/2008-01-04.

[13] [13] S. Nakaoka, S. Hattori, F. Kanehiro, S. Kajita, and H. Hirukawa, “Constraint-based Dynamics Simulator for Humanoid Robots with Shock Absorbing Mechanisms,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3641-3647, 2007.

[14] [14] Y. Takano, A. Uda, and M. Ishida, “The Design of Robot Software development kit RoboStudio,” Proc. of JSME Conf. on Robotics and Mechatronics, 1A1-L1-10, 2004. (in Japanese)

Integration of Manipulation, Locomotion, and Communication Intelligent RT Software Components for Mobile Manipulator System Using Scenario Tools in OpenRT Platform

Natsuki Yamanobe*, Ee Sian Neo*, Eiichi Yoshida*, Nobuyuki Kita*, Kazuyuki Nagata*, Kazuhito Yokoi*, and Yosuke Takano**

Natsuki Yamanobe^, Ee Sian Neo^, Eiichi Yoshida^,
Nobuyuki Kita^, Kazuyuki Nagata^, Kazuhito Yokoi^,
and Yosuke Takano^**