2025 Volume 43 Issue 1 Pages 75-86
Robot hardware configurations are diverse, ranging from different drive systems to different types of hardware devices. In addition, the required speed of the devices also differs. However, it is difficult for existing systems to handle a variety of hardware devices and achieve high responsivity. Therefore, this study proposes a general device control platform that performs a new hardware abstraction in order to handle these devices in a unified manner. This platform extends and implements a hardware device control system in a bottom-up approach. The platform is also built on a plug-in system, offering high levels of reusability and scalability. Furthermore, examples of the platform's operation across various types of robots are provided to illustrate and demonstrate its practical utility.
