Abstract
This paper discusses a control architecture for human friendly robot. Recently, robot middleware is developed for intelligent robot software platform. The robot system can be constructed by making the program of each functional module and connecting each other module. However, software architecture for connecting various modules is not provided now, therefore general versatility of a software module is deteriorated. In particular, a human friendly robot is very complicated relationship between software modules, because it should consider various situations such as human interaction, communication and safety. Therefore, we propose a control software architecture for a human friendly robot. We verify that availability of our proposal through experiments of clearing a table. Moreover, we add some intelligent modules on the proposed architecture to discuss availability of our proposed software architecture.KeywordsHuman friendly robot3D-range cameraSoftware architecture
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