RT middleware

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RT-middleware Logo mark (Japan Robot Association)

RT-middleware (Robotics Technology Middleware) is a common platform standards for Robots based on distributed object technology.[1] RT-middleware supports the construction of various networked robotic systems by the integration of various network-enabled robotic elements called RT-Components. The specification standard of RT-components is discussed and defined by the Object Management Group (OMG).[2]


In the RT-middleware, robotics elements, such as actuators, are regarded as RT-components, and the whole robotic system is constructed by connecting those RT-components. This distributed architecture helps developers to reuse the robotic elements and boosts the reliability of the robotic system.

Each RT-component has a port as an endpoint for communicating other RT-components. Every port has its type and the ports which have the same type can be connected each other.

RT-components also have state, so the RT-components behaves as state machines. The states that RT-components can have are CREATED, INACTIVE, ACTIVE, and ERROR. States and behaviors are controlled by the execution-context. If developers want to change the behavior of their RT-components, the execution-context can be replaced at runtime.


RT-middleware is just standard of the Robotics platform software. Implementations of the RT-middleware are as follows:

Related projects[edit]

See also[edit]


  1. ^ Noriaki ANDO, Takashi SUEHIRO, Kosei KITAGAKI, Tetsuo KOTOKU, Woo-Keun Yoon, "RT-Middleware: Distributed Component Middleware for RT (Robot Technology)", 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2005), pp.3555-3560, 2005.08, Edmonton, Canada
  2. ^ Robotics Technology Component Specification version 1.0, Object Management Group (OMG)
  3. ^ OpenRTM-aist official website, http://www.openrtm.org/
  4. ^ SEC. Co., Ltd., [SEC, Robot Site http://www.sec.co.jp/robot/download_rtm.html]
  5. ^ SEC. Co., Ltd., [RTM Safety http://www.sec.co.jp/english/business/rtmsafety/index.html]
  6. ^ SEC. Co., Ltd., [RTM Safety http://www.sec.co.jp/english/business/rtmsafety/index.html]
  7. ^ SEC. Co., Ltd., [RTM Safety http://www.sec.co.jp/english/business/rtmsafety/index.html]
  8. ^ ROS.org
  9. ^ Willow Garage
  10. ^ Orocos.org
  11. ^ OPRoS official website

External links[edit]