Robot Middleware for Android-based device for reusability of Robot SW Component *

Nowadays there have been several billions of Android-based smart phones and lots of tries of applying to the robot domain. This paper suggest the middleware, called AndMid4Comp, operating in Android-based smart phones, which reuses the existing C++-robot SW components open in the OPRoS community. The middleware manages the C++ components and Java components developed by Android developers according to specified properties such as period and aperiodic. Note that operations of C++-based programs are very limited on Android. This paper verifies the proposed middleware via an examples of mobile manipulation robot.