Abstract

Experiments with real robots are very important in robotics researches. The experimental robot platform is used to test new methods, so new functions must easily be integrated into existent robot system. In this paper, we introduce a controller archtecture of our experimental robot platform “Yamaboco”, which aims at distributed and incremental developmant. The controller is modularized and devided into two hierarchical levels. The higher level consists of one master module which makes desicion of robot motions exclusively. The lower level consists of many function modules which have definite rules of communication with other modules. And the implemented system is also introduced. Each module has a transputer as a main processor to connect modules with transputer’s fast sirial links. A special operationg system is loaded on each module to realize communications between modules. It realizes asynchronous message passings between processes running in same or different modules. By using this controller, “Yamabico” is very good use for experiments with real robots. We think the design concept of the controller is useful and effective for general experimental robot platforms.

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