Abstract
In this research, we aim at the construction of a system which can change a robot's internal composition flexibly and easily in the robot by applying the RT-Middleware. To achieve this, we propose to introduce the manager which supports Plug and Play for RT-Component. This manager that automatically sets RT-middleware is investigated to reduce complex sets up procedure to use OpenRTM-aist-0.4.x. For instance, in the start-up process, the robot cannot execute the requested service if the application program failed to manage RT-Component appropriately. By introducing PnP service, it becomes possible to change composition of the robot easily according to a user's situation or a request. Thereby development efficiency of the robot would be improved.
