〒 560-85311-3, Machikaneyama-cho,Toyonaka, Osaka, Japan
In our research, we propose environmental robot system in which the modules providing RT functions are distributed, we called the system ubiquitous robot. The robot supports human and other robots working in that environment. And we develop elemental technologies for realizing the ubiquitous robot.
For device-downsizing and easiness of adaptation, we estimate position by using radio signal strength indication (RSSI). But, indoor environment, position estimation by using RSSI is difficult through multipath fading. In our study, to solve this problem and take advantage the RF communication, we propose RSSI measurement sensor using RSSI which is based on 125kHz, which is less subject to multipath fading, and we conduct position estimation experiment by using this sensor.
In order to build a ubiquitous robot environment, distributed modules are necessary. These modules can work independently, provide RT functionality and communicate with each other. We call these modules: RT modules. It is important to define the hardware and software interface of RT modules. If such interface is properly defined， the modules become usable and reusable. In this research, we proposed an initial Module Design with properly defined interfaces.
RT components usually work on ordinary computers. It is difficult to use them on low power micro computers (ex.PIC,H8) due to the low CPU power of these devices. However, distributed modules in ubiquitous robot environment are usually controlled by micro computers. For this reason, we need to design a scheme of RT component that work properly in these type computers. We propose "Light Weight RT Component (RTC-Lite)" to use on low power micro computers for RT Middleware framework.
Service robots are desired to achieve more intelligent tasks for the sake of everyday use. For example, the robot should be able to finds object, grasps it, and then gives it to the human user. In order to achieve such intelligent tasks, service robots need the following functions. ・To detect objects and to estimate their pose on three-dimensional space using vision ・To manipulate objects and to transport them