Research on Human Activity Support System adopting Remotely Controlled Autonomous Robot as an Agent
| Project/Area Number |
17560231
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Shibaura Institute of Technology |
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Principal Investigator |
MIZUKAWA Makoto Shibaura Institute of Technology, Faculty of Engineering, Professor (20327753)
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| Project Period (FY) |
2005 – 2007
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| Project Status |
Completed (Fiscal Year 2007)
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| Budget Amount *help |
¥3,770,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥270,000)
Fiscal Year 2007: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2006: ¥1,100,000 (Direct Cost: ¥1,100,000)
Fiscal Year 2005: ¥1,500,000 (Direct Cost: ¥1,500,000)
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| Keywords | Network / Robot / Distributed System / Agent / Middleware / ミドルウェア / 遠隔操作 / 分散プロセッサ / CAN(Controller Area Network) / マイクロプロセッサ / 組込システム |
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| Research Abstract |
In recent years, the RT (Robot Technology) is expected to support social life against the falling birthrate and aging society. In such case, the strong demand to the unified framework and platform design to integrate various specifications of robots and/or robot components because requirements to the services provided by robots highly depend on individuals. To support daily life, we are developing PAS (Physical Agent System) that adopts the distributed control system.
In this research, we developed a distributed control system using CAN (Controller Area Network) for the PAS. In this paper, subsystem profiling and communication protocol for distributed control system using CAN is investigated and the design criteria for multiple micro-processor system.
The results are applied to design the PAS Agent Robot(PARO4R)and the wheeled-leg mobile robot, IMR-Type I.
As for a daily life support system, we investigated the service system using the PAS. The PAS is the remotely controlled autonomous robot. The PARO4R (Physical Agent Robot version '04 Revised model) is designed for assisting daily life assists and collaboration between remote places. PARO4R consist of a distributed control system. The PAS (Physical Agent System) adopts the ORiN (Open Resource Interface for the Network /Open Robot Interface for the Network) as the network interface. ORiN is a middleware that provides the common network interface based on the distributed object technology. In his paper, we discuss the concept of the PAS and RAC (Robot Action Commands) design that can be used as common robot-control command.
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Report
(4 results)
Research Products
(81 results)
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[Journal Article] System Design and Service Concept in the Physical Agent System2005
Author(s)
M., Mizukawa, T., Hironaka, Y., Matsuno, T., Tsukikawa, K., Ogawa , Y., Ando
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Journal Title
Proc. IEEE Workshop on Advanced Robotics and its Social Impacts(ARSO'05)
Description
「研究成果報告書概要(欧文)」より
Related Report
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[Journal Article] Physical Agent System : System Concept and Remote Control Service using ORiN2005
Author(s)
K., OGAWA, M., MIZUKAWA, T., TSUKIKAWA, T., HIRONAKA, Y., ANDO
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Journal Title
Proc. The 2nd International Conference on Ubiquitous Robots and Intelligence Ambient Intelligence, KRW059
Description
「研究成果報告書概要(欧文)」より
Related Report
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[Presentation] Implementation and evaluation of Distributed Control Protocol with CAN for a Mobile Robot2007
Author(s)
Shun, IWASAKI, Hiroki, MURAKAMI, Mitsuharu, SONEHARA, Koichiro, HAYASHI , Makoto, MIZUKAWA
Organizer
8th SICE System Integration Division Annual Conference, 1L4-1
Description
「研究成果報告書概要(欧文)」より
Related Report
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[Presentation] Research on application of UPnP function to the Physical Agent System(PAS)2007
Author(s)
Yuki, KODAMA, Ken-ichiro SHIMOKURA, Yukihiro, NAKAMURA, Makoto MIZUKAWA, Yoshinobu, ANDO, Sumiko, TAKEDA
Organizer
JSME Robomec07, 1A1-D08
Description
「研究成果報告書概要(欧文)」より
Related Report
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[Presentation] Research on Capacity Monitoring System of Battery used in the Agent Robot in the Physical Agent System(PAS)2007
Author(s)
Tomoya, KAZUMORI, Makoto, MIZUKAWA, Kazuya, OGAWA, Yoshinobu, ANDO, Kazuo, KOBAYASHI
Organizer
JSME Robomec07, 1P1-B02
Description
「研究成果報告書概要(欧文)」より
Related Report
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[Presentation] Design and Implementation of Distributed Control Protocol with CAN for a Mobile Robot2007
Author(s)
Shun, IWASAKI, Hiroki, MURAKAMI, Mitsuharu, SONEHARA, Koichiro, HAYASHI, Makoto, MIZUKAWA
Organizer
JSME Robomec07, 1P1-B04
Description
「研究成果報告書概要(欧文)」より
Related Report
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[Presentation] Proposal of Data Server Framework for Robot Cooperation Environment2006
Author(s)
Sumiko, TAKEDA, Yukinobu, NAKAMURA, Satoshi, IWAKI, Ken-ichiro SHIMOKURA, Makoto, MIZUKAWA, Yoshinobu, ANDO
Organizer
JSME Robomec07, 2B1-3
Description
「研究成果報告書概要(欧文)」より
Related Report
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[Presentation] Hiroyuki NAKAMOTO , Akihiro IKEZOE, Development of embeddedCAN controller using RT-Middleware2006
Author(s)
Yutaka, TSUCHIYA , Makoto, MIZUKAWA , Takashi, SUEHIRO, Noriaki, ANDO
Organizer
7th SICE System Integration Division Annual Conference, 3B1-4
Description
「研究成果報告書概要(欧文)」より
Related Report
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[Presentation] Architecture of Distributed Control System with CAN for Mobile Robots2006
Author(s)
Shingo, ISOBE, Makoto, MIZUKAWA, Tadayuki, YAMAMOTO, Koichiro, HAYASHI, Mitsuharu SONEHARA, Hiroki, MURAKAMI
Organizer
JSME Robomec06, 1P1-C27
Description
「研究成果報告書概要(欧文)」より
Related Report
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