Development of a Photography Service Robot Using the Structure of RT Component

For the purpose of expanding the market of service robots, we developed a robot that realizes photography service by using common middleware and component system. For the task of photography, the system was constructed by grasping the functions to realize as modules, reusing the existing components, and developing the missing components. In order to improve reliability, we experimentally showed that it is possible to use two approaches, one that improves component performance and one that uses a combination of components. We also confirmed the effectiveness of the retry operation that human intervention to improve the certainty. In addition, for the purpose of commonality, we designed the specifications of components to cope with the differences in robot hardware and confirmed by experiment. As a result of the above, the success rate of the photography service can be improved to about 90% or more even in the case of two people in various environments.