Ubiquitous Function Services Based Control for Robots with Ambient Intelligence

Ubiquitous computing brought about the paradigm change that robot technology transforms itself to technology for everything which includes robots and objects. Actually, these changes are continued to the various researches to link robots to the functions of objects which can be used by programmable resource on networks in the ubiquitous computing environment. In this paper, these inherent functions of objects are defined as ubiquitous functions. And ubiquitous function service with the service oriented architecture is proposed for integration and control of physical and virtual objects in the unified framework, which is composed of smart object service, smart logic service, and smart discovery service. Next, to provide flexible robustness for a robot in the everyday domain, the reproductive robust internal-loop compensator structure is proposed and the structural design method of smart logic service based on this structure is illustrated. Finally, em u-RT space for the proposed ubiquitous function services is introduced and the experiment based on an example scenario is carried out to verify the proposed design method of smart logic service.