Abstract
In order to develop intelligent RT software components more efficiently, we are developing the reference hardware robot system for RT components research applications. This robot consists of a 6 DOF serial link manipulator unit and a 2-wheel drive vehicle unit. These units are modularized, and all users can connect some additional RT components to the system by the OpenRTM-aist development system. Furthermore it can be used for healthcare applications by mounting intelligent RT components designed for the "Service dog". In this paper, we discuss the first prototype of the robot system and the optional prototype end effector.
