Abstract
This paper describes development of omnidirectional mobile robot system using RT-Middleware. This robot system consists of face detection, camera control, voice synthesis, omnidirectional move and localization. These are implemented as RT-component. Whole system is built by connecting these RT-components. Finally we show a case of development and operation of this system through a robot programming seminar for 3rd-grade undergraduate students at the department of mechano-informatics, the university of Tokyo.