Tetsuo Kotoku

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In this paper, we propose RT-middleware for robot system integration. "RT" means "robot technology", which is applied not only to industrial field but also to nonindustrial field such as human daily life support systems. RT-middleware which is proposed in this paper is a software platform for RT systems. We have studied modularization of RT elements and(More)
This paper proposes the RT-Middleware for robot system integration. “RT” means “Robot Technology” which is applied not only to industrial field but also to nonindustrial field such as human daily life support systems. We have studied modularization of RT elements and have developed software platform RT-Middleware which promotes application of RT in various(More)
Since a biped robot tends to tip over easily, stable and rcliablc bipcd walking is a very important achievement. In this paper, we propose a balance control method based on an off-l ine planned walking pattern with real-t ime modification. First, a method of generating a highly stable, smooth walking pattern is presented. Then, a method of real-time(More)
Communication both between development teams and between individual developers is a common source of safety-related faults in safety–critical system design. Communication between experts in different fields can be particularly challenging due to gaps in assumed knowledge, vocabulary and understanding. Faults caused by communication failures must be removed(More)
Component-based software is a major design trend in robot software. It brings many benefits to system design, implementation and maintenance. One step in using component-based methods in designing the structure of a robot program is managing the components and the connections between them over time, known as coordination. In this paper we present a(More)
In this paper, we propose RT-Component architecture for robot system integration. We have studied modularization of RT (Robot Technology) elements and have developed RT-Middleware, which promotes application of RT in various field[1], [2], [3]. RT-Middleware is a software platform for RT systems and provides RT specific functionality for the component based(More)
We have studied a framework of RT-component which promotes application of robot technology (RT) in various field. In this paper, we discussed robotic system development methodology and our RT-middleware concepts. The system development methodology using RT-component, and new framework to make composite component for RT-component is shown. An evaluation of(More)
The Intelligent Systems Laboratory (ISL) has been developing coordinated control technologies for multitelerobot collaboration in a common environment remotely controlled from multiple operators physically at a distance from each other. We have built a test bed and conducted a series of experiments, where we learned more about how the transmission delay(More)