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▱⬟䝻䝪䝑䝖䝥䝷䝑䝖䝣䜷䞊䝮 ROBOSSA
䠄⊂䠅⏘ᴗᢏ⾡⥲ྜ◊✲ᡤ
㻌 㻌 㻌 ▱⬟䝅䝇䝔䝮◊✲㒊㛛
㻌㻌㻌 㻌
◊✲㛤Ⓨ䛾⫼ᬒ
– ᑡᏊ㧗㱋໬䛻䜘䜛ປാຊ୙㊊
– ෇㧗➼䛻䜘䜛〇㐀ᴗ䛾ᅜෆ✵Ὕ໬㜵Ṇ
ே㛫ඹᏑ⎔ቃ䛷సᴗ䛩䜛䝻䝪䝑䝖䜔
ᅜෆ⏕⏘ᙉ໬䛾䛯䜑䛾䝻䝪䝑䝖䛾せồቑ
ฟᒎ䠖⤒⏘┬ ᢏ⾡ᡓ␎䝬䝑䝥 2010
௓ㆤ䚸௓ຓ⿵ຓ
ከရ✀ᑡ㔞⏕⏘
㎰ᴗ⿵ຓ
ே㛫䛸Ᏻ඲䛻༠ㄪ䛩䜛ᢏ⾡䚸
㧗ရ㉁䛷ຠ⋡䜘䛟ືస䛥䛫䜛ᢏ⾡䛾☜❧
䛂▱⬟໬ᢏ⾡䛃
䝰䝆䝳䞊䝹໬䛻䜘
䜚෌฼⏝䛾ಁ㐍
◊✲㛤Ⓨ䛾⤒⦋
䝻䝪䝑䝖ศ㔝ᑟධ䝅䝘䝸䜸
㻌 㻌 ᢏ⾡ᡓ␎䝬䝑䝥2010䜘䜚
䝻䝪䝑䝖ᢏ⾡䛾᪂つᢏ⾡㛤Ⓨ䚸䝻䝪䝑䝖䛾⏘
ᴗ໬䛾ಁ㐍䛾䛯䜑䛻䛿⥅⥆䛧䛯◊✲㛤Ⓨ䛸
ಖᏲ䛾ᚲせ䛜䛒䜛
㌶㊧㏣ᚑ
⮬ᕫ఩⨨
ᢕᣢィ⏬
ືస⌮ゎ ຊไᚚ
సᴗィ⏬
ᆅᅗసᡂ
᥎ᐃ
≀యㄆ㆑
⤒㊰ィ⏬
⫈䛟
䝰䞊䝍ไᚚ
㞀ᐖ≀ᅇ 㐲㝸᧯స
㌶㊧㏣ᚑ
ᑐヰไᚚ
㑊
䝭䝗䝹䜴䜶䜰
㛤Ⓨ䝒䞊䝹
䝇䝔䝺䜸
ᢕᣢィ⏬
ど
㢦ㄆ㆑
㞀ᐖ≀ᅇ ᆅᅗసᡂ
㑊 㡢ኌㄆ㆑
⤒㊰ィ⏬
䝆䜵䝇䝏
䝱ㄆ㆑
ே㏣㊧
ヰ䛩 ヰ䛩ᑐヰไᚚ
≀యㄆ㆑
సᴗィ⏬
ேⓎぢ
⫈䛟
䝇䝔䝺䜸
⮬ᕫ఩⨨
㡢ኌㄆ㆑
ど
᥎ᐃ
▱⬟䝋䝣䝖䜴䜶䜰䝰䝆䝳䞊䝹
▱⬟䝻䝪䝑䝖䝥䝷䝑䝖䝣䜷䞊䝮
ROBOSSA
䞉ḟୡ௦䝻䝪䝑䝖䜢䚸ᐇ⌧䛩䜛䛯䜑䛾䝋䝣䝖䜴䜶䜰䝇䜱䞊䝖
– RT䝭䝗䝹䜴䜶䜰 OpenRTM-aist
– 䝻䝪䝑䝖▱⬟䝋䝣䝖䜴䜶䜰䝥䝷䝑䝖䝣䜷䞊䝮㻌 OpenRTP-aist
– ▱⬟䝋䝣䝖䜴䜶䜰䝰䝆䝳䞊䝹⩌㻌 OpenRTC-aist
ᕷ㈍䝻䝪䝑䝖䜢౑䛳䛶ḟୡ௦䝻䝪䝑䝖◊✲㛤Ⓨᇶ
┙䜢ᐜ᫆䛻ᐇ⌧ྍ⬟
ᐇ♫఍䛷ᙺ❧䛴䝻䝪䝑䝖䛾ᬑཬ
▱⬟䝋䝣䝖䜴䜶䜰䝰䝆䝳䞊䝹䝟䝑䜿䞊䝆
OpenRTC-aist
‡ సᴗ▱⬟䚸⛣ື▱⬟䚸䝁䝭䝳䝙䜿䞊䝅䝵䞁▱⬟
䛾3䛴䛾䜹䝔䝂䝸䞊䛷ᩚ⌮
䛥䜎䛦䜎䛺䝻䝪䝑䝖䛾ᇶᮏᶵ⬟䛷ᩚ⌮
‡ 䜸䞊䝥䞁䝋䞊䝇䝷䜲䝉䞁䝇䛾▱⬟䝋䝣䝖䜴䜶䜰䝰
䝆䝳䞊䝹⩌
ㄡ䛷䜒⮬⏤䛻฼⏝ྍ⬟䛺䜒䛾䜢㑅ᢥ
‡ ᕷ㈍䛾䝻䝪䝑䝖䜢⏝䛔䛯ᇶᮏⓗ䛺ᶵ⬟䜢䜒䛴䝻
䝪䝑䝖䝅䝇䝔䝮౛
䝋䝣䝖䜴䜶䜰䛾ືస䛜ᐜ᫆䛻⌮ゎ䛷䛝䜛
ᐇ♫఍䛷ᙺ❧䛴䝻
䝪䝑䝖䛾ᬑཬ
ROBOSSA
ฟᒎ䠖⤒⏘┬
ᒎ ⤒⏘┬ ᢏ⾡ᡓ␎
ᢏ⾡ᡓ␎䝬䝑䝥
䝥 2010
䠇㻌 ᶵ⬟㏣ຍ䚸◊✲㛤Ⓨ
ḟୡ௦䝻䝪䝑䝖
ᛂ⏝๰ฟᇶ┙
⊂⮬䝃䞊䝡䝇
OpenRTC-aist
సᴗ䝻䝪䝑䝖౛
ᴗ䝻䝪䝑䝖౛
౛
䠇 స
సᴗ▱⬟
▱⬟
䝇䝔䝺䜸
ど
᪂つ䝝䞊䝗
䜴䜶䜰
సᴗィ⏬
ᢕᣢィ⏬
ḟ
ḟୡ௦䝻䝪䝑䝖
◊✲㛤Ⓨᇶ┙
≀యㄆ㆑
⛣ື▱⬟
⬟
NEDO-RTCs 㻌 㻌 㑅ᢥ
OSS RTCs㻌 etc.
ே㏣㊧
ヰ䛩 ヰ䛩 ᑐヰไᚚ
≀యㄆ㆑
సᴗィ⏬
ேⓎぢ
⫈䛟
䝇䝔䝺䜸
⮬ᕫ఩⨨
㡢ኌㄆ㆑
ど
᥎ᐃ
㌶㊧㏣ᚑ
⮬ᕫ఩⨨
ᢕᣢィ⏬
ືస⌮ゎ ຊไᚚ
సᴗィ⏬
ᆅᅗసᡂ
᥎ᐃ
≀యㄆ㆑
⤒㊰ィ⏬
⫈䛟
䝰䞊䝍ไᚚ
㞀ᐖ≀ᅇ 㐲㝸᧯స
㌶㊧㏣ᚑ
ᑐヰไᚚ
䝇䝔䝺䜸 㑊
ᢕᣢィ⏬
㞀ᐖ≀ᅇ ᆅᅗసᡂ
ど
㑊 㡢ኌㄆ㆑
⤒㊰ィ⏬
䝆䜵䝇䝏
㢦ㄆ㆑
䝱ㄆ㆑
㻌 㻌 㑅ᢥ
⮬ᕫ఩
⮬ᕫ
⨨᥎ᐃ⤒㊰ィ
⏬
㌶㊧㏣ᚑ
ᆅᅗస
㞀ᐖ≀ᅇ
ᡂ
㑊
䠇
᪂つ䝉䞁䝃
⛣ື䝻䝪䝑䝖౛
౛
䝁䝭䝳䝙䜿䞊䝅䝵䞁▱⬟
˜
㻌 㻌 㑅ᢥ
ヰ䛩
ᑐヰไᚚ
⫈䛟
㡢ኌㄆ㆑
▱⬟䝰䝆䝳䞊䝹
⊂⮬ᢏ⾡
䠇
ᑐヰ䝻䝪䝑䝖౛
ᑐ
ヰ䝻䝪䝑
䝑䝖౛
䠇㻌 ᕷ㈍䝻䝪䝑䝖
䝻䝪䝑䝖㧗ᗘ໬ᩍ⫱
䝥䝷䝑䝖䝣䜷䞊䝮
OpenRTC-aist䛾
䛾▱⬟䝰䝆䝳䞊䝹
䝟䝑䜿䞊䝆
‡ సᴗ▱⬟䝰䝆䝳䞊䝹䝟䝑䜿䞊䝆
– 䠏D䝡䝆䝵䞁䛸䝬䝙䝢䝳䝺䞊䝅䝵䞁䛻㛵䜟䜛䝁䞁䝫䞊
䝛䞁䝖⩌
‡ ⛣ື▱⬟䝰䝆䝳䞊䝹䝟䝑䜿䞊䝆
– ኳ஭䜹䝯䝷䜎䛯䛿LRF䜢⏝䛔䛯⮬ᕫ఩⨨ྠᐃ䛸䝘
䝡䝀䞊䝅䝵䞁䛻㛵䜟䜛䝁䞁䝫䞊䝛䞁䝖⩌
‡ 䝁䝭䝳䝙䜿䞊䝅䝵䞁▱⬟䝰䝆䝳䞊䝹䝟䝑䜿䞊䝆
– 㡢ኌㄆ㆑䚸㡢ኌⓎヰ䚸ᑐヰ䛻㛵䜟䜛䝁䞁䝫䞊䝛䞁䝖
⩌
సᴗ▱⬟䝋䝣䝖䜴䜶䜰䝰䝆䝳䞊䝹⩌
௙஦ෆᐜ䜢
䜢 Scheduler
Ỵ䜑䜛
䝅䝘䝸䜸
Sense
ᑐ㇟≀ㄆ㆑
ᑐ㇟≀䜢ぢ䛴䛡䜛
㻻㼜㼑㼚㼂㻳㻾㻌
䠄6䝰䝆䝳䞊䝹䠅
Plan
సᴗィ⏬
సᴗィ⏬䜢❧䛶䜛
㼓㼞㼍㼟㼜㻼㼘㼡㼓㼕㼚㻌㼒㼛㼞㻌㻌
㻯㼔㼛㼞㼑㼛㼚㼛㼕㼐㻌
䠄2䝰䝆䝳䞊䝹䠅
Act
䝻䝪䝑䝖
䝻䝪䝑䝖䜢ື䛛䛩
㻴㼕㼞㼛㻺㼄㻵㼚㼠㼑㼞㼒㼍㼏㼑㻌
䠄2䝰䝆䝳䞊䝹䠅
సᴗ▱⬟䝻䝪䝑䝖䝅䝇䝔䝮౛
཮⭎䝻䝪䝑䝖䜢౑䛳䛶䚸సᴗྎୖ䛾సᴗᑐ㇟≀䠄㒊ရ䠅䜢᳨ฟ䛧
䚸⟽䛾୰䛻཰䜑䛶䚸㞄䛾సᴗྎ䛻㐠䜆సᴗ
ㄆ㆑⤖ᯝඹ㏻㻵㻲㻌
཮⭎䝻䝪䝑䝖㻌
ไᚚඹ㏻㻵㻲㻌
⏬ീฟຊඹ㏻㻵㻲㻌
䜹䝯䝷䛷≀య䜢ㄆ㆑䛧䚸
཮⭎䛷᧯䜛䝅䝇䝔䝮
⛣ື▱⬟䝋䝣䝖䜴䜶䜰䝰䝆䝳䞊䝹⩌
‡▱⬟໬PJ㻌 ⛣ື▱⬟䝰䝆䝳䞊䝹ඹ㏻I/F䛻‽ᣐ
‡㌴య㏿ᗘ䜢ධຊ䛸䛩䜛⛣ື䝻䝪䝑䝖䠄㌴㍯ᆺ䠅䜢⤒㊰䛻
ἢ䛳䛶㉮⾜䛥䛫䜛⛣ືᶵ⬟
‡㛤Ⓨ䛿䚸▱⬟໬PJ䛻ཧຍ䛾௻ᴗ䚸኱Ꮫ䚸◊✲ᶵ㛵
‡
‡
‡
‡
‡
䝉䞁䝅䞁䜾䠄2䝰䝆䝳䞊䝹䠅
⮬ᕫ఩⨨ྠᐃ䠄4䝰䝆䝳䞊䝹䠅
㉮⾜⣔ 䠄3䝰䝆䝳䞊䝹䠅
⤒㊰ィ⏬䛸⤒㊰㏣ᚑ䠄4䝰䝆䝳䞊䝹䠅
᧯స䜲䞁䝍䞊䝣䜵䞊䝇㻌 䠄2䝰䝆䝳䞊䝹䠅
⛣ື▱⬟䝻䝪䝑䝖䝅䝇䝔䝮౛
‡ ኳ஭䝘䝡䝀䞊䝅䝵䞁䛻䜘䜛⛣ືไᚚ
– PowerBot(MOBILE ROBOTICS♫〇䠅䜢฼⏝
– 䝅䝭䝳䝺䞊䝍䞊䛸ᐇᶵ䛷ྠ䛨䜘䛖䛻ືస
Start
Goal
䠄䝕䝰㒊ᒇ䛾෗┿䛸ᕪ䛧᭰䛘䠅
䝁䝭䝳䝙䜿䞊䝅䝵䞁▱⬟䝰䝆䝳䞊䝹⩌
䞉㡢ኌㄆ㆑䞉㡢ኌྜᡂ䞉ᑐヰไᚚ䛺䛹䚸䝻䝪䝑䝖䛾䝁
䝭䝳䝙䜿䞊䝅䝵 䞁ᶵ⬟䛾ᐇ⌧䛻ᚲせ䛺ྛせ⣲䜢ᐇ
⌧䛩䜛䝁䞁䝫䞊䝛䞁䝖⩌
‡ ▱⬟໬PJ㻌 䝁䝭䝳䝙䜿䞊䝅䝵䞁▱⬟ඹ㏻つ᱁‽ᣐ
– OpenHRIAudio㻌㻌 (14䝰䝆䝳䞊䝹)
‡ 䝬䜲䜽ධຊ䚸䝇䝢䞊䜹䞊ฟຊ䚸䜶䝁䞊㝖ཤ䛺䛹䛾㡢㡪ฎ⌮
– OpenHRIVoice (3䝰䝆䝳䞊䝹)
‡ 㡢ኌㄆ㆑䚸㡢ኌྜᡂ
– SEATSAT㻌 (2䝰䝆䝳䞊䝹)
‡ ᑐヰไᚚ
▱⬟䝋䝣䝖䜴䜶䜰䝰䝆䝳䞊䝹䛾౛
䠄䝁䝭䝳䝙䜿䞊䝅䝵䞁▱⬟䠅
‡ ᕷ㈍䛾䝩䝡䞊䝻䝪䝑䝖䜢㡢ኌ࿨௧䛷ືస䛥䛫䜛
䛆䝝䞊䝗䜴䜶䜰䛇
‡
Windows 7䛾ືస䛩䜛䝟䝋䝁䞁
‡
G-ROBOTS GR-001㻌 䜎䛯䛿 Choreonoid
䛆฼⏝䝁䞁䝫䞊䝛䞁䝖䛇
‡AudioInput䝁䞁䝫䞊䝛䞁䝖: 㡢ኌ䝕䞊䝍䛾ྲྀᚓ
‡Julius䝁䞁䝫䞊䝛䞁䝖: ᪥ᮏㄒ㡢ኌㄆ㆑
‡SEAT䝁䞁䝫䞊䝛䞁䝖 : 㡢ኌᑐヰไᚚ
‡Choreonoid: GR-001䝅䝭䝳䝺䞊䝅䝵䞁
䝁䝭䝳䝙䜿䞊䝅䝵䞁▱⬟䝻䝪䝑䝖䝅䝇䝔䝮౛
‡ 䝬䝹䝏䝸䞁䜺䝹ᑐヰ䝅䝇䝔䝮
– ⱥㄒ䛸᪥ᮏㄒ䛾䜘䛖䛻」ᩘ䛾ゝㄒ䛻䜘䜛࿨௧䜢ཷ
䛡௜䛡䜛䝻䝪䝑䝖䝅䝇䝔䝮䛾౛
‡ ⭎ୖ䛢䝻䝪䝑䝖
– 䛂ᕥ䠄ྑ䠅䜢䛒䛢䛶䛃䚸䛂ᕥ䠄ྑ䠅䜢䛥䛢䛶䛃䛺䛹䛾ᣦ♧䜢䝻
䝪䝑䝖䛻ᣦ♧䜢୚䛘䚸䛭䜜䛻ᛂ䛨䛶⭎䜢ୖ䛢䛯䜚ୗ䛢
䛯䜚䛩䜛䝻䝪䝑䝖䝅䝇䝔䝮䛾౛
‡ 㡢㡪䜶䝁䞊㝖ཤ
– 㡢ኌㄆ㆑䜢䜘䜚ṇ☜䛻⾜䛖䛯䜑䛻㡢㡪䜶䝁䞊䜢㝖ཤ䛩
䜛ᶵ⬟䜢ຍ䛘䛯䝻䝪䝑䝖䝅䝇䝔䝮䛾౛
Official Site
ROBOSSA
http://robossa.org
OpenRTM-aist
http://openrtm.org
OpenRTP-aist
http://openrtp.org
OpenRTC-aist
http://openrtc.org
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