Abstract
The paper presents a robot system design with highly reusable components for a component-based robot system for manipulation tasks. The robot system is designed based on the analysis of manipulation tasks using a unified modeling language use case diagram. For a service robot with locomotion and manipulation mechanisms, reusability of robot system components is improved by adopting the proposed design. Our structure consists of scenario, task, robot information management server, data analyzer, sensor hardware controller, skill, and motion hardware controller on a component-based robot system. Based on the proposed robot system, we implemented a component-based robot system and subsequently realized a grasping motion by a service robot.
Similar content being viewed by others
References
Ando N, Suehiro T, Kitagaki K, Kotoku T, Yoon WK (2005) RT-Middleware: distributed component middleware for RT Robot Technology. In: Proceedings of the 2005 IEEE/RSJ international conference on robots and systems (IROS), pp 3555–3560
Utz H, Sablatnog S, Enderle S, Kraetzschmar G (2002) Miro- middleware for mobile robot applications. IEEE Trans Robot Autom 18: 493–497
Jacson J (2007) Microsoft Robotics Studio: a technical introduction. IEEE Robot Autom Mag 14(4): 82–87
Bruyninckx H (2001) Open robot control software: the orocos project. In: Proceeding of the 2001 IEEE international conference on robotics and automation (ICRA), pp 2523–2528
Mizukawa M, Matsuka H, Koyama T, Inukai T, Nodad A, Tezuka H, Noguch Y, Otera N (2002) ORiN: Open robot interface for the network. In: SICE, IEEE Press, pp 925–928
Makarenko A, Brooks A, Kaupp T (2006) Orca: components for robotics. In: Proceedings of the 2006 IEEE/RSJ International conference on intelligent robots and systems (IROS), pp 163–168
Brooks R (1986) A robust layered control system for a mobile robot. IEEE J Robot Autom RA-2: 14–23
Gat E (1998) On three-layer architectures. In: Bonnasso RP, Murphy R (eds) Artificial intelligence and mobile robots. AAAI Press, Cambridge
Kim G, Chung W, Kim M, Lee C (2003) Tripodal schematic design of the control architecture for the service robot PSR. In: Proceedings of the IEEE international conference on robotics and automation (ICRA), pp 2792–2797
Kim M, Kim S, Park S, Choi MT, Kim M, Gomaa H (2009) Service robot for the elderly. IEEE Robot Autom Mag 16(1): 34–45
Brotem G, Mackay D, Moncktion S, Collier J (2009) The robotics experience. IEEE Robot Autom Mag 16(1): 46–54
Bensalem S, Gallien M, Ingrand F, Kahloul I, Thanh-hung N (2009) Designing autonomoous robots. IEEE Robot Autom Mag 16(1): 67–77
Hasegawa T, Suehiro T, Takase K (1992) A model-based manipulation system with skill-based execution. IEEE Trans Robot Autom 8(5): 535–944
Srovnal V, Pavliska A (2002) Robot control using UML and multi-agent system. In: Proceeding 6th World Multiconference SCI, vol 1, issue 1, pp 102–107
Mrozek Z (2001) UML as integration tool for design of the mechatronic system. In: Second workshop on robot motion and control, pp 189–194
Kim M, Kim S, Choi M-T, Kim M, Gomaa H (2006) UML-based service robot software development: a case study. In: Proceedings of the 28th international conference on software engineering, pp 534–543
Kotoku T, Suehiro T, Lemaire O, Yokomachi M, Mizukawa M (2005) Robot middleware and its standardization in OMG. In: Proceedings of the 2nd international conference on ubiquitous robots and ambient intelligence, pp 116–119
Lowe DG (2004) Distinctive image features from scale-invariant keypoints. Int J Comput Vis 60(2): 91–110
Choi J, Takahashi H, Mae Y, Ohara K, Takubo T, Arai T (2009) Interoperable RT component for object detection and 3D pose estimation for service robots. In: Proceedings of the 2009 IEEE/RSJ international conference on intelligent robots and systems (IROS), pp 2710–2715
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Mae, Y., Takahashi, H., Ohara, K. et al. Component-based robot system design for grasping tasks. Intel Serv Robotics 4, 91–98 (2011). https://doi.org/10.1007/s11370-010-0072-5
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11370-010-0072-5