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

Gunhee Kim; Woojin Chung; Munsang Kim; Chongwon Lee

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

Gunhee Kim, Woojin Chung, Munsang Kim, Chongwon Lee

School of Mechanical Engineering

Research output: Contribution to journal › Conference article › peer-review

26 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 language	English
Pages (from-to)	2792-2797
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2
Publication status	Published - 2003
Event	2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China Duration: 2003 Sept 14 → 2003 Sept 19

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Cite this

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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.",

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note = "2003 IEEE International Conference on Robotics and Automation ; Conference date: 14-09-2003 Through 19-09-2003",

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AU - Lee, Chongwon

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N2 - 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.

AB - 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.

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AN - SCOPUS:0345307813

SN - 1050-4729

VL - 2

SP - 2792

EP - 2797

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

T2 - 2003 IEEE International Conference on Robotics and Automation

Y2 - 14 September 2003 through 19 September 2003

ER -

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

Abstract

ASJC Scopus subject areas

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