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Development of Intelligent Service Robotic System Based on Robot Technology Middleware

Many service robotic systems have been developed in order to improve care cost and the QoL (Quality of Life) of the elderly people in the population-aging society (Nagi, N. Newman et al., 2002; Schulz, D. et al., 2002; Stein, M. R. Stein et al. 2000). Our HARSP (Human-Assistance Robotic System Project) project has been developing a network distributed Human-Assistance Robotic System since 2000 (Jia et al., 2001; Jia et al., 2004). We developed hardware base, key technologies, and implemented CORBA (Common Object Request Broker Architecture) application servers to provide some basic services to aid the aged or disabled. Improvements of the developed system have been doing from practical viewpoint. In order to enable remote users to get a better understanding of the state of robots working and the state of the aged or disabled, we developed network distributed monitoring system to transmit media streams in real time. Home robot integration system and network monitoring system using QuickCam Orbit cameras were developed and demonstrated from June 9 to June 19 at the 2005 World Exposition, Aichi, Japan. The omnidirectional wheelchair and maneuvering system have been developed to enable the disabled person to operate it skilfully. The developed powered wheelchair gives users the same degree of mobility that healthy individuals enjoy (Ohnishi et al., 2002). This new wheelchair can be operated by a disabled wheelchair user using either a joystick or by simple body actions with two hands free. Force sensors arranged under the seat detect the dynamic changes in the user’s posture in the wheelchair. We also developed the omnidirectional intelligent service robot which can bring the necessary objects such as a canned drink, a towel or a newspaper to wheelchair user. In order for the service robot to perform a task autonomously, iGPS (indoor Global Position System, Hada et al., 2004) was developed to localize the mobile robot. In addition, a network distributed monitoring system was developed in order to observe the state of the robotic system, as well as the state of the user. In the developed system, Robot Technology Middleware framework was used to develop robotic functional elements as RT components that can facilitate networkdistributed software and sharing. AIST (Agency of Industrial Science and Technology, Japan, http://www.is.aist.go.jp/rt/) developed RTM to promote application of Robot