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Novel Standardized Representation Methods for Modular Service Robots

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Abstract

In this paper, novel modular representations and diagrams for service robots are introduced based on the work of ISO TC299-Working Group 6, aiming to provide a standard guideline for the users to present the modular service robots with a unified form, taking hardware connectivity and software aspect into account. The suggested modularity representation mainly consists of a line diagram, a circle diagram, a task-based diagram and a block diagram. At first, their concrete forms and introduction are illustrated in detail. Afterwards, some user case examples are provided, using the suggested diagrams, to present the real commercial modular designed service robots.

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Notes

  1. Basic module:module that is not decomposable into smaller modules.

  2. Composited module:module constructed by two or more modules.

  3. The tasks to be performed can be considered behaviors to be performed using Brooks’ sub-sumption architecture [2].

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Acknowledgements

The authors would like to thank the ISO (International Standard Organization) and the financial support of the National Natural Science Foundation of China (Grant Numbers 52105197 and 61903268), and the Natural Science Foundation of Jiangsu Province (Grant No. BK20190823).

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Authors and Affiliations

  1. School of Optoelectronic Science and Engineering, Soochow University, Suzhou, China

    Yibo Zou & Tuo Shi

  2. Thermal Energy and Power Engineering Research Institute, Shanghai Dianji University, Shanghai, China

    Yusheng Ju

  3. College of Information Engineering, Capital Normal University, Beijing, China

    Zhenzhou Shao

  4. School of Electrical and Automatic Engineering, Changshu Institute of Technology, Suzhou, China

    Yefei Gong

  5. School of Electrical and Automatic Engineering, Southeast University, Nanjing, China

    Bo Sun

  6. School of Mechanical And Electrical Engineering, Soochow University, Suzhou, China

    Le Wan

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  1. Yibo Zou
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  2. Yusheng Ju
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  3. Zhenzhou Shao
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  4. Yefei Gong
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  5. Bo Sun
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  6. Le Wan
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  7. Tuo Shi
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Correspondence to Tuo Shi.

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We confirm that there are no known conflicts of interest associated with this publication and there has been no significant financial support for this work that could have influenced its outcome. We confirm that the manuscript has been read and approved by all named authors and that there are no other persons who satisfied the criteria for authorship but are not listed. We further confirm that the order of authors listed in the manuscript has been approved by all of us. The authors declare that they have no conflict of interest.

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Zou, Y., Ju, Y., Shao, Z. et al. Novel Standardized Representation Methods for Modular Service Robots. Int J of Soc Robotics 14, 699–712 (2022). https://doi.org/10.1007/s12369-021-00806-5

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