Component-based robot system design for grasping tasks

Authors:
Yasushi Mae;Hideyasu Takahashi;Kenichi Ohara;Tomohito Takubo;Tatsuo Arai
Affiliations:
Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan 560-8531;Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan 560-8531;Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan 560-8531;Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan 560-8531;Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan 560-8531
Venue:
Intelligent Service Robotics
Year:
2011

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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.