Tripodal schematic design of the control architecture for the service robot PSR

Gunhee Kim, Woojin Chung, Munsang Kim, Chongwon Lee

Research output: Chapter in Book/Report/Conference proceedingConference contribution

25 Citations (Scopus)

Abstract

This paper describes a control architecture design and a system integration strategy for the autonomous service robot PSR(Public Service Robot). The PSR is under development at the KIST(Korea Institute of Science and Technology) for service tasks in public spaces such as office buildings and hospitals. The proposed control architecture is designed by tripodal frameworks, which are layered functionality diagram, class diagram, and configuration diagram. The tripodal schematic design clearly points out the way of integrating various hardware and software components. The developed strategy is implemented on the PSR and successfully tested.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2792-2797
Number of pages6
Volume2
Publication statusPublished - 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: 2003 Sep 142003 Sep 19

Other

Other2003 IEEE International Conference on Robotics and Automation
CountryTaiwan, Province of China
CityTaipei
Period03/9/1403/9/19

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

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  • Cite this

    Kim, G., Chung, W., Kim, M., & Lee, C. (2003). Tripodal schematic design of the control architecture for the service robot PSR. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2, pp. 2792-2797)