Development of simulation framework for ubiquitous robots using RT-middleware

This paper presents a simulation framework for ubiquitous robot and sensors. For ubiquitous robot, the importance of a distributed sensor environment is emphasized. To simulate such an environment, the effect of environment sensor should be considered as well as a robot itself to verify the performance of the overall system. To remedy this problem, the integrated simulation framework is suggested. In the proposed scheme, each sensor and robot are implemented as RT components. This can be achieved using RT-middleware, which is developed by AIST. Using RT components, the interface module can be reused in real environment because the interface module will have common design between the simulation space and the real environment. This is one of merits of RT-Middleware. OpenHRP, which is considered as target platform, is also introduced.