Structural Improvements of the OpenRTM-aist Robot Middleware

  • Zoltán KrizsánEmail author
  • Szilveszter Kovács
Part of the Topics in Intelligent Engineering and Informatics book series (TIEI, volume 1)


The robot middleware is a key concept in developing complex robot systems even in geographically distributed environment. Giving a handy API, reusable standardized components and communication channels together with some automatism, the robot middleware helps the user to build easily reconfigurable systems. The behavior of the components and the manner of interaction among them are standardized by the Robotic Technology Component (RTC) specification. One implementation of the RTC specification is the OpenRTM-aist. It is a well written and convenient modular system built upon the Common Object Request Broker Architecture (CORBA). The first version of CORBA is released in 1991. Nowadays the CORBA is getting more and more out of date. Our ultimate goal is developing a new robot middleware in which we apply a modern distributed framework instead of CORBA. As a first step of the substitution we suggest some practical extensions of the OpenRTM-aist by the adaptation of the Internet Communication Engine (ICE) for component communication and the introduction of the web application concept for system editing and control. Having these structural modifications the resulting system became more powerful than the original system has been. The chapter introduces some structural and implementation details of the OpenRTM-aist together with the results of the experiments done for the performance comparison of the original and extended system.


Robot System Virtual Space Structural Improvement System Editor Virtual Item 
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Copyright information

© Springer-Verlag GmbH Berlin Heidelberg 2012

Authors and Affiliations

  1. 1.Department of Information TechnologyUniversity of Miskolc, Miskolc-EgyetemvárosMiskolcHungary

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