Development of ubiquitous mobile manipulator system with RT-Middleware

In this paper, the ubiquitous mobile manipulator system, which could realize the concept of ubiquitous robotics, is proposed. The ubiquitous robot might be able to give several services in human environments, beside classical robots have many problems to realize services, because of the complexity of environments and the amount of information. The experiment shows the validness of this system configuration. Our robots have 7DOF manipulator, mobile, gripper, tag reader and so on. And, all of systems are integrated on RT-middleware.