Middle Layer Incorporating Software Robot and Mobile Robot

One of the key components of an ubiquitous robot (Ubibot) is the software robot (Sobot) which can communicate with embedded robot (Embot) and mobile robot (Mobot). Sobot is a virtual robot, which has the ability to move to any place or connect to any device through a network in order to overcome spatial limitations. Embot has the capability to sense the surroundings, interpret the context of the environment, and can communicate with Sobot and Mobot. On the other hand, a Mobot provides integrated mobile service, though it has spatial limitations. To incorporate Sobot, Embot, and Mobot reliably as an ubibot, middle layer is needed to arbitrate different protocols among them. This paper focuses on incorporating Sobot and Mobot for providing seamless and context-aware services to human beings. To implement the incorporation of them, the basic concept and structure of the middle layer are presented. The effectiveness of the middle layer for Sobot and Mobot is demonstrated through the real experiments.