Abstract
In this paper, a function changeable RT system, which consist of distributed RT functions to adapt to varied environment change like human living environments, will be discussed. Unlike an industry field like a factory, the human living environment is dynamically changed. The robot system is dynamically adapted according to environment changes. However, it is difficult to design a RT system in advance so that the RT system can adapt to any environment change. If the RT system can be easily integrated and customized by own user, all users can get the suitable robot system for own environment and demand. The function changeable RT system with RT-middleware architecture and "Ubiquitous robot" concept is one of the solutions to the above problem. The RT system consists of networked function modules in parallel. Its hardware configuration can be obtained from RFID on the function module. As the demonstration, the cleaner robot, which consists of distributed function, will be shown.
