General-purpose robots have been constructed by a central system managing all robot elements by using a single high performance controller. Through advances in semiconductor technology, however, robot system developers can choose several types of robot designs, such as distributed arrangement in a house environment. Robot systems, e.g., environmental robots, are an important topic in robotics. Standardized communications and device specifications are important in actually utilizing such robot system. A userfriendly framework is also important. In this paper, we propose RT middleware for an embedded controller, which is based on standardized specifications in the OMG (Object Management Group). We also introduce reference hardware for developed RT middleware. Last, the HEMS (Home Energy Management System) is shown as an example system using developed middleware.

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Supporting Online Materials:
10. [a] Documents Associated with Robotic Technology Component (RTC), Version 1.0.
    http://www.omg.org/spec/RTC/1.0/
11. [b] Sec Robot Cite (in Japanese).
    http://www.sec.co.jp/robot/index.html