Software Interface for Hardware-independent Robot Platforms

In most research, robots have been regarded as having a complete set of functions. Such robots can fulfill only specialized roles. Accordingly, it is not possible to use these robot systems for a variety of purposes. However, if robot tools are defined as each of functional elements, robots can be repurposed for a variety of tasks. By connecting various robot tools, robots can be enabled to perform a multitude of functions. This type of robot is referred to here as a tool-based evolution robot. Tool-based evolution robots must support interfaces allowing interactive functions between robots. In this paper, a software interface for a hardware-independent robot platform is proposed. This interface offers a method to allow hardware-dependent functions between robots. The Proposed software interface is designed to consider dynamic loading/removing. The interface can support the use of hardware-dependent functions between robots. Finally, a foundation allowing dynamic addition and removal of robot components is established.