Abstract
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.
