抄録
We are presently developing a set of software called Open Source Software Suite for Human Robot Interaction (OpenHRI). OpenHRI has the following characteristics. It is implemented on RT-Middleware, an object management group (OMG)-compliant robot technology middleware specification that can be easily integrated in any robot system. It can perform various functions from audio signal processing to dialog management in a uniform and reconfigurable manner. It not only implements each required function of the components but also defines a meta-level specification to enable the developer to verify whether the structural design of the components is correct. In this paper, we introduce the implementation of OpenHRI, present the architectural design of the system, and provide examples of applications. 1.
