著者

中村 亮介 網野 梓 一野瀬 亮子 柄川 索 玉本 淳一

出版者

一般社団法人日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2008, pp."2P1-I03(1)"-"2P1-I03(2)", 2008-06-06

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We are developing a human-symbiotic robot, called "EMIEW2", designed to support human activity. We set the following three features in the EMIEW2. The first is speed. The robot's moving speed is faster than human walking at 6km/h. The second is the safety. It weighs 13kg the same as a two-year old child. The third is its minimum size for office work. The robot's height is 800mm, which is taller than most office desk. This allows the robot to detect objects on them. To expand on the robot's range of motion, the EMIEW2 has three modes. In "two-wheeled mode", the EMIW2 can move nimbly at 6km/h. In the "four-wheeled mode", the EMIEW2 can move stably. In "step mode", the EMIEW2 can walk up a 3cm step. This paper describes the EMIEW2's mechanism and system constitution.

著者

柄川 索 一野瀬 亮子 中村 亮介

出版者

一般社団法人日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2008, pp."2P1-I04(1)"-"2P1-I04(2)", 2008-06-06

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This paper describes the software architecture of the humanoid robot "EMIEW 2." In order to increase efficiency of software development of robotic and mechatronic systems, which often requires complicated software comprised of many real-time tasks running on multiple processors, the authors have developed a message-driven software component framework. The software of EMIEW 2 is comprised of 28 software components such as motor control, path planning, and localization. The component framework transmits a message containing 1024 bytes of data in 18μs when it is executed on a 500 MHz CPU. It can currently be used with four operating systems and is expected to be applied to other robotic and mechatronic systems.