成果報告書詳細
管理番号20110000001175
タイトル*平成22年度中間年報 次世代ロボット知能化技術開発プロジェクト ロボット知能ソフトウェア再利用性向上技術の開発(2)
公開日2011/10/12
報告書年度2010 - 2010
委託先名独立行政法人産業技術総合研究所
プロジェクト番号P08013
部署名機械システム部
和文要約和文要約等以下本編抜粋:1. 研究開発の内容及び成果等
平成22年度は,以下の研究開発を行なった。
1.研究開発の内容および成果等
1.1 リファレンスRTC の検討
ロボットの要素モジュールを再利用性の高いRTCとして実現するために必要なRTCの仕様を具体的なロボット作業を例に検討し、その典型的な形態をリファレンスRTC として整理した。
具体的には、アプリケーション事例となるロボットシステムを策定し(下記(3)参照)、これを実現するための移動系モジュール群の構成およびモジュール間インターフェースの検討を行った。また、各研究体が開発したRTC の中から、上記移動系の要素として適切な機能、粒度、独立性をもったRTC を抽出し、リファレンスRTC として選定した。これらの動作確認を、移動ロボット(リファレンスハードウェア)を用いて実施した。
英文要約(1) Discussion of Reference RTC: We designed a reference-application system, and discussed the configuration of mobile-function modules and the interface specification to realize the system. In order to select the reference RTCs, we extracted suitable mobile RTCs for the application system from many RTCs developed by each research institute, from a viewpoint of function, granularity, and independence. We tested the operation of them using a mobile-robot platform (RH: Reference Hardware). (2) Publication of Reference RTC: We performed a demonstration of the reference-application system at RTC-reuse working group in this project. The overview of this activity, the contents of selected RTCs, and the outline and the operation of developed applications system were presented in an international conference (IROS2010 workshop). We also published the documents and specifications of the mobile-function RTCs in project website. (3) Discussion of reference application system for reuse of modules: (3-1) Reference application system: The goal of this project is to provide various reusable RTC modules with common interfaces, which can be utilized for building intelligent robots. For this purpose, we defined a reference application system, and analyze the system structure to define required RTC modules. More concretely, a "visitor reception system" was selected as an application with mobile function, operation function, and communication function, and the service requirements for the mobile-function were defined. (3-2) Development of platform robots for reuse verification: In prior to develop above described reference application systems, it is necessary to develop platform robots on which the reference application systems will be implemented. We developed a platform for reuse verification using RH2 (Reference Hardware ver.2) mobile robot. We added a ceiling-camera in order to realize more accurate localization using ceiling-image matching. (3-3) Selection of reusable RTC module: We selected a module which fits the above described reference application system, and tested their reusability using mobile platform. For integration of the system, the specification of data I/O ports of selected RTCs was unified revising source codes of the RTCs. We made some new RTCs to integrate existing RTCs in the system, and demonstrated that they were effective to improve reusability of RTCs. Documents and specifications of selected RTCs were published in project website. (3-4) Integration verification system using open-source RTCs: We constructed a mobile-function system using open-source RTCs as a part of the visitor-reception system. Path planning modules, path following (navigation) modules, and localization modules are connected, and they were implemented on RH2 as mobile intelligence. We realized a hybrid operation switching autonomous mode and manual mode by remote control, utilizing both existing RTCs and newly developed RTCs, and we demonstrated extensibility of RTC-based system. The operation of constructed system was demonstrated as an achievement of RS001 project phase at RTC-reuse working group. After the phase, we added an obstacle-avoidance function to the requirement for mobile intelligence, and reconstructed the module configuration of the mobile system. (3-5) Integration verification of Open-Source Manipulation Software Using Dual-Arm Robot: In order to enhance the development and permeation of open-source software for manipulative intelligence, we developed vision modules and robot platforms. The developed vision modules consisit of "Bar-code recognitoin RTC," "Template Matching RTC," and "Charactor Recognition RTC." As robot platforms, two dual-armed robots "HIRO" by Kawada Industries were constructed. One of them is installed on a omni-directional mobile platform developed by Yasukawa Electric Corporation in order for the robot to perform mobile manipulation.
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