This paper presents the components and overall architecture of the ubiquitous robot (Ubibot) system developed to demonstrate ubiquitous robotics, a new paradigm for integrated services. The system has been developed on the basis of the definition of the ubiquitous robot as that of encompassing the software robot Sobot, embedded robot Embot and the mobile robot Mobot. This tripartite partition, which independently manifests intelligence, perception and action, enables the abstraction of intelligence through the standardization of sensory data and motor or action commands. The Ubibot system itself is introduced along with its component subsystems of Embots, the position Embot, vision Embot and sound Embot, the Mobots of Mybot and HSR, the Sobot, Rity, a virtual pet modeled as an artificial creature, and finally the middleware which seamlessly enables interconnection between other components. Three kinds of experiments are devised to demonstrate the fundamental features, of calm sensing, context awareness and seamless service transcending the spatial limitations in the abilities of earlier generation personal robots. The experiments demonstrate the proof of concept of this powerful new paradigm which shows great promise.

This study investigates the nonlinear dynamics of traction for an omniwheel mobile robot platform. A nonlinear slip model is incorporated into the dynamics of the system and the resulting equations of motion are derived using Euler-Lagrange formulation. These are additionally transformed into slip-space, where the dynamical equations lend themselves to a convenient analysis of the slip dynamics. The conventional assumptions for ideal rolling are also explored and a reduced expression for the nonlinear dynamics is generated for such situations. Preliminary explorations toward a comprehensive analysis of the dynamics for omniwheel platforms under various control schemes is also initiated.

This paper discusses the personality of genetic robot and its evolving algorithm within the purview of the broader ubiquitous robot framework. Ubiquitous robot systems blends mobile robot technology (Mobot) with distributed sensor systems (Embot) and overseeing software intelligence (Sobot), for various integrated services. The Sobot is a critical question since it performs the dual purpose of overseeing intelligence as well as user interface. The Sobot is hence modelled as an artificial creature with autonomously driven behavior. The artificial creature has its own genome and in which each chromosome consists of many genes that contribute to defining its personality. This paper proposes evolving the personality of an artificial creature. A genome population is evolved such that it customized the genome satisfying a set of personality traits desired by the user. Evaluation procedure for each genome of the population is carried out in a virtual environment. Effectiveness of this scheme is demonstrated by using an artificial creature, Rity in the virtual 3D world created in a PC.