マルチプロセッサによるヒューマノイドロボットの機能の実現

—組み込みプロセッサによる音響処理モジュールの開発—

抄録

In this paper, we discussed about a system architecture of humanoid robot which is a large scale integrated system, to realize extensibility without real-time performance and data sharing between functional modules. We propose a multiprocessor architecture, which processes every functional module at its exclusive processor in parallel, and connects them by data shared bus. We evaluate the efficiency of the proposed architecture through the experience in implementing a multi-modal conversation robot.