Implementation of multi-functional service robots using tripodal schematic control architecture

This paper describes the implementation of multi-functional service robots using the Tripodal schematic control architecture. Our strategy has two major advantages. First, the proposed architecture supports Petri net based formal description of tasks and error/fault handling schemes. Second, it provides intuitive and straightforward guidelines of system integration issues. We show reusability and scaleability of the proposed architecture by giving two examples of our experience. First, we explain how to add a newly developed cleaning function to our robot system. Second, we introduce the implementation process of a newly developed guide robot Jinny. Most of modules developed for former robots are used directly to the Jinny system. Experimental results clearly showed that the developed strategy is efficient and easy-to-use.