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— In this paper, the robot behavior designer called “FIROSOPHY” which sequentially changes connections of RT-components is shown. First, it is pointed out that most of the recently developed RT-systems are constructed as a central controlling system which has various problems, such as complexity of development, debugging and maintaining. Next, the FIROSOPHY is shown. In FIROSOPHY architechture, the RT-task is provided as sequentially executing the RT-systems that achieve premitive skills like reaching, walking, etc. Using FIROSOPHY, prural research results on the same hardware platform can be easily combined.

2A2-B22 Development of RT System Control Software which changes connections of RTCs