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¿µ¹®Ç¥Áظí Common Robot Interface Framework for URC Device Abstraction
Çѱ۳»¿ë¿ä¾à º» Ç¥ÁØÀº ·Îº¿ ÀÀ¿ë ÇÁ·Î±×·¥ÀÇ ·Îº¿ ºÎ¼Ó ÀåÄ¡¿¡ ´ëÇÑ ÀÇÁ¸¼ºÀ» ÃÖ¼ÒÈ­ÇÏ°í ·Îº¿ ÀÀ¿ë ÇÁ·Î±×·¥ÀÇ Ç÷§Æû°£ À̽ļºÀ» Çâ»ó½ÃÅ°±â À§ÇÑ °øÅëÀÇ ÀÎÅÍÆäÀ̽º ÇÁ·¹ÀÓ¿öÅ©¸¦ Á¤ÀÇÇÑ´Ù. ·Îº¿ Ç÷§ÆûÀ» ±¸¼ºÇÏ´Â ·Îº¿ ºÎ¼Ó ÀåÄ¡´Â ±× Ư¼º ¹× Á¾·ù°¡ ´Ù¾çÇϱ⠶§¹®¿¡ º» Ç¥ÁØÀº °øÅëµÈ ÀÎÅÍÆäÀ̽º¸¦ µµÃâÇϱâ À§Çؼ­ ·Îº¿ Ç÷§Æû¿¡ ´ëÇÑ ÀÏÁ¾ÀÇ °¡»ó ·Îº¿ ¸ðµ¨À» ¼¼¿ì°í À̸¦ ±â¹ÝÀ¸·Î °øÅëµÈ ÀÎÅÍÆäÀ̽º¸¦ Á¤ÀÇÇÑ´Ù. ÀÌ °¡»ó·Îº¿Àº URC¿ë ·Îº¿¿¡¼­ °¡Àå º¸ÆíÀûÀ¸·Î »ç¿ëµÈ´Ù°í ÆǴܵǴ ÀåÄ¡¸¦ ±¸ºñÇÏ°í ÀÖ´Ù. ÀÌ·¯ÇÑ ÀåÄ¡¿¡´Â µðÆÛ·±¼È ŸÀÔÀÇ ¹ÙÄû ±¸µ¿ÀåÄ¡¿Í, Ä«¸Þ¶ó°¡ ºÎÂøµÈ ÆæÆ¿Æ® °¡´ÉÇÑ Çìµå Á¦¾îºÎ, ·Îº¿¿ÜºÎ °´Ã¼¿ÍÀÇ °Å¸®¸¦ ÃøÁ¤ÇÒ ¼ö ÀÖ´Â °Å¸®¼¾¼­ ÀåÄ¡, Ãæµ¹°¨Áö¿ë ¹üÆÛ¼¾¼­, ¼Ò¸®¸¦ ÀÔ·Â ¹Þ´Â ¸¶ÀÌÅ© ÀåÄ¡, ¼Ò¸®¸¦ Ãâ·ÂÇÏ´Â ½ºÇÇÄ¿ ÀåÄ¡, ·Îº¿ ¿ÜºÎÀÇ À̹ÌÁö¸¦ ȹµæÇϱâ À§ÇÑ ¿µ»ó ÀåÄ¡, ±×¸®°í ¹èÅ͸® ¸ð´ÏÅÍ ÀåÄ¡°¡ ÀÖ´Ù.
¿µ¹®³»¿ë¿ä¾à This standard defines common interface framework for reducing application¡¯s dependency on robot devices and for improving its portability among platforms To draw common interfaces for robot devices of various kinds and properties, we establish a virtual robot model for robot platforms. The virtual robot model is equipped with those devices that are presumably regarded as most commonly used: differential-type wheels, a camera for obtaining external images outside the robot, a head with pan-tilt, a bumper sensor, a speaker, a battery monitor, proximity sensors for measuring the distance between the robot and outside objects, and microphones.
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