Syntactic-semantic analysis of reconfigurable robot

摘要

We propose a concept for reconfigurable robotics, which is to analyze a robot configuration in syntax and to give semantics to robot components. We call it "syntactic-semantic analysis of robot configuration". The motivation for this concept arises when we consider a reconfigurable robot platform, which allows us to build various styles of robots. We would like to establish a method which enables us to develop a portable application software on various styles of robots. Making an analogy to syntactic theory of natural language processing, we propose a syntactic analysis of the robot configuration, which also gives semantics to robot components. We implement the proposed method on a reconfigurable robot platform, which allow us to configure a quadruped robot and a wheel-based robot.