System integration for Manzai robots based on RT-Middleware

Abstract

This paper reports the integration of control systems for the Manzai robots using RT-Middleware. The conventional Manzai robot systems have been implemented differently in each control system. It is desired that the integrated control system for the Manzai robot system that is separated from the part of hardware-dependent systems. User interfaces parts are developed as Web applications. The user interfaces for the Manzai robot system are communalized. Therefore, the scalability problems of the interfaces of the systems caused by dependency of the robot hardware are resolved. In addition, we improve scalability by the development of RT-components for each type of rendering of the Manzai for the performance. We show the feasibility and effectiveness of the methods through the implementation results.