Developmental Software Environment that is applicable to Small-size Humanoids and Life-size Humanoids

In this paper, the developmental software environment for humanoids is introduced. This environment has following features. (1)A hardware concealment function which save the trouble with hardware improvements. (2)An incremental expansion function which supports a long-term development by many developers. (3)An centralised management of body information which enables to share softwares between different bodies. These features are realized by the plugin architecture, the universal robot model and its compilers. Using plugins enables to accumulate functions developed by different developers and to switch computer interfaces of the robot body. The universal robot model and compilers promote use of external softwares and share software modules between different bodies.