A modularized personal robot DRP I: Design and implementation

Se Gon Roh; Kwang Woong Yang; Jae Hoon Park; Hyungpil Moon; Hong Seok Kim; Hogil Lee; Hyouk Ryeol Choi

doi:10.1109/TRO.2009.2014499

A modularized personal robot DRP I: Design and implementation

Se Gon Roh, Kwang Woong Yang, Jae Hoon Park, Hyungpil Moon, Hong Seok Kim, Hogil Lee, Hyouk Ryeol Choi

Department of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

11 Scopus citations

Abstract

In this paper, we investigate comprehensive issues of modularized robot systems and present architecture for effective development of personal robots. The proposed architecture includes the interface and interaction methodology of the hardware modules and the software among the modules. Based on the architecture, we present a fully modularized personal robot dynamically reconfigurable personal robot I. Its hardware modules are easily added to or removed from the original system, and also the distributed software functions of the modules are rearrangeable accordingly. We focus on how to effectively build up the robot, and discuss the dynamically reconfigurable features of it for evaluating the proposed idea and approach.

Original language	English
Pages (from-to)	414-425
Number of pages	12
Journal	IEEE Transactions on Robotics
Volume	25
Issue number	2
DOIs	https://doi.org/10.1109/TRO.2009.2014499
State	Published - 2009

Keywords

Modular robot
Modularized robot
Module
Personal robot
Reconfigurable robot
Standard interface
Standardization

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10.1109/TRO.2009.2014499

Cite this

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title = "A modularized personal robot DRP I: Design and implementation",

abstract = "In this paper, we investigate comprehensive issues of modularized robot systems and present architecture for effective development of personal robots. The proposed architecture includes the interface and interaction methodology of the hardware modules and the software among the modules. Based on the architecture, we present a fully modularized personal robot dynamically reconfigurable personal robot I. Its hardware modules are easily added to or removed from the original system, and also the distributed software functions of the modules are rearrangeable accordingly. We focus on how to effectively build up the robot, and discuss the dynamically reconfigurable features of it for evaluating the proposed idea and approach.",

keywords = "Modular robot, Modularized robot, Module, Personal robot, Reconfigurable robot, Standard interface, Standardization",

author = "Roh, \{Se Gon\} and Yang, \{Kwang Woong\} and Park, \{Jae Hoon\} and Hyungpil Moon and Kim, \{Hong Seok\} and Hogil Lee and Choi, \{Hyouk Ryeol\}",

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AU - Park, Jae Hoon

AU - Moon, Hyungpil

AU - Kim, Hong Seok

AU - Lee, Hogil

AU - Choi, Hyouk Ryeol

PY - 2009

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AB - In this paper, we investigate comprehensive issues of modularized robot systems and present architecture for effective development of personal robots. The proposed architecture includes the interface and interaction methodology of the hardware modules and the software among the modules. Based on the architecture, we present a fully modularized personal robot dynamically reconfigurable personal robot I. Its hardware modules are easily added to or removed from the original system, and also the distributed software functions of the modules are rearrangeable accordingly. We focus on how to effectively build up the robot, and discuss the dynamically reconfigurable features of it for evaluating the proposed idea and approach.

KW - Modular robot

KW - Modularized robot

KW - Module

KW - Personal robot

KW - Reconfigurable robot

KW - Standard interface

KW - Standardization

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SP - 414

EP - 425

JO - IEEE Transactions on Robotics

JF - IEEE Transactions on Robotics

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ER -

A modularized personal robot DRP I: Design and implementation

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Keywords

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