A Software Framework to Create Behaviors for Androids and Its Implementation on the Mobile Android "ibuki"

Androids--humanoids with a human-like appearance are studied in limited communities but draw considerable attention. Considering an android integrates numbers of actuators, sensors and devices into a system, a standardized framework is beneficial to easy-move and extension of potential applications. In this report, we developed a ROS-based software framework for androids. With the framework, intuitively generating, blending and reusing the android motion is aimed to be realized. Some software applications are developed under this framework and they are implemented on a child-like android "ibuki''. Several android behaviors are created by implementing this framework on ibuki.