リモートブレイン方式におけるソフトウェアプラットフォームの構造化と実現

• 加賀美 聡

  東京大学大学院工学系研究科情報工学専攻博士課程

• 稲葉 雅幸

  東京大学工学部機械情報工学科

• 井上 博允

  東京大学工学部機械情報工学科

書誌事項

タイトル別名

• Construction and Implementation of Software Platform in Remote-Brained Robot Approach.
• リモート ブレイン ホウシキ ニ オケル ソフトウェア プラットフォーム ノ

抄録

This paper describes a software framework which can support different types of bodies and behaviors with different processing times. The system we propose consists of 3 parts, “Mother, Brain, Sensor & Actuator”. Brain consists of robot behavior programs and their supporting libraries, and Sensor & Actuator consists of sensor processing and actuator control system. Mother consists of tools to produce and evolve Brain programs.<BR>In building tools and libraries for such a platform you are faced with two major problems. One is, system architecture will always have a trade-off relationship with “extensibility” and “shareablity” . The other problem you encounter is the difference in execution time between the low-level real-time reactive environment and the high-level behavioral software.<BR>In this paper we describe the methods and the software environment that we built which overcomes the problems mentioned above, based on the remote-brained robotic approach. This system enables us to develop flexible multiprocess networks made of processes with differing computing times which in turn enables the contruction of various brain architectures.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 15 (4), 550-556, 1997

  一般社団法人 日本ロボット学会

キーワード

• Remote-Braind Robotics
• Robot Architecture
• Parallel Distributed Processing System

詳細情報

• CRID: 1390001204725308544
• NII論文ID: 10007548761
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.15.550
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 4205135
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4205135
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可