Implementation of Robot-PNP for Intelligent Self-Reconfiguration Based on Scenario

Abstract

Previously, robots were an assemblytype devices designed for accomplishment of a specific purpose. However, recent intelligent service robots require the capabilities of learning and evolving their operating systems, hardware, and software by themselves. Therefore, we research a technology which can automatically search for peripheral IT devices and other robots without direct connection in a complex indoor environment and recognize them, like PNP (plug and play). However, most robot-PNP technology is based on a wire USB interface which connects them with a sensor or actuator by cable, and this interface is able to connect only to robot platforms and devices. We propose a wireless robot-PNP based on IEEE 802.1.5.4 for an intelligent service robot. The proposed robot-PNP can search and recognize peripheral devices without directly connecting to a robot body. The proposed PNP consists of six modules (Device Discovery, Event Management, Device List Management, Device Profile Analysis, Service Discovery, and Device Control). The proposed robot-PNP can autonomously recognize peripheral devices, including mutual recognition with peripheral devices, and control them like the robots own components.