2P1-I04 Component-Oriented Software Architecture of Human-Symbiotic Robot "EMIEW 2"

Abstract

Thls paper describes the software architecture of the humanoid robot " EMIEW 2 ． " 且 n order to increase e幵 iciency of software development of robotic and mechatronic systems ， which often requires complicated software comprised of many real −time tasks running on multiple processors ， the authors have developed a message −driven software component framework． The so 負ware of EMIEW 2 is colnprised of 28 software components such as motor