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ROBOSSA - OpenRTM-aist
▱⬟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ᗘᩍ⫱ 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ኌ௧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