General-purpose robots have been constructed by a central system managing all robot elements by using a single high performance controller. Through advances in semiconductor technology, however, robot system developers can choose several types of robot designs, such as distributed arrangement in a house environment. Robot systems, e.g., environmental robots, are an important topic in robotics. Standardized communications and device specifications are important in actually utilizing such robot system. A userfriendly framework is also important. In this paper, we propose RT middleware for an embedded controller, which is based on standardized specifications in the OMG (Object Management Group). We also introduce reference hardware for developed RT middleware. Last, the HEMS (Home Energy Management System) is shown as an example system using developed middleware.

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Abs 重 ract ： The paper presents dynamic unfoldingof rabrics by pinching slip mot 並 on ． By keeping the Iexlile in conIacl with robot fingertips ， the dynarnic unfolding isdone successfully in horizontat directiQn ． The success rate depends on fingertips shape ． The grasp 孟 ng force is important for dynamic unfolding of textile by pinching slip motion ， We simu ］ atc the contact force betwccn fingcrtips and the fabric ， Here， wc assume that the contacL force is described by contact between fluid and an obstacle in duct ． We confirm validity of the experimental results using computationa 田 uid dynamics．