A Software Platform for Component Based RT-System Development: OpenRTM-Aist

  • Authors:

  • Noriaki Ando;Takashi Suehiro;Tetsuo Kotoku

  • Affiliations:

  • Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Ibaraki, Japan 305-8568;Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Ibaraki, Japan 305-8568;Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Ibaraki, Japan 305-8568

  • Venue:
  • SIMPAR '08 Proceedings of the 1st International Conference on Simulation, Modeling, and Programming for Autonomous Robots
  • Year:
  • 2008

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Abstract

This paper proposes the RT-Middleware for robot system integration. "RT" means "Robot Technology" which is applied not only to industrial field but also to nonindustrial field such as human daily life support systems. We have studied modularization of RT elements and have developed software platform RT-Middleware which promotes application of RT in various field. Robotic system development methodology and our RT-Middleware concepts is discussed. The RT-Component which is a basic madular unit of RT-Middleware based system integration is derived from this discussion. A methodology of system development with RT-Components, and a framework to make component are shown.