Personalization of dynamically loaded service programs for a human-robot communication channel

This work presents a middleware architecture for personal robots when applied to various environments. This architecture allows a user´s personal robot to consistently integrate environment-oriented applications to the robot´s personality in its own application. These applications share sensors and actuators, and generate consistent actions in sequence. However, integration of two different kinds of independently developed applications causes a lack of its continuity and a slow response in human-robot communication. To solve these problems, we have designed a new middleware for personal robots, called PRIMA (personal robots´ intermediating mediator adaption to environment) which can schedule the outputs of these applications to keep open the human-robot communication channel. We call the integration of these applications a personalization of dynamically loaded service programs. In addition, our experiment demonstrates the effects of PRIMA on human-robot communication.