Research and Development

History of development

(G)RT Middleware was proposed by the New Energy and Industrial Technology Development Organization (NEDO) in the project of the 21st Century Robot Challenge Program (2002 - 2004), its concept was proposed, and the National Institute of Advanced Industrial Science and Technology Research, development and standardization were conducted by Matsushita Electric Works (now Panasonic Electric Works Co., Ltd.), Japan Robot Industry Association.

(G)As a result of the project, reference implementation of RT middleware: OpenRTM-aist-0.2 and its interface specification was released. After that, standardization of the RTC interface specification was advanced in the International Standards Organization OMG (Object Manegement Group:, and became OMG official standard specification in April 2008. One of RT Middleware implementations conforming to this standard is OpenRTM-aist-1.0 published in January 2010.

(G)The figure shows the current research, development and standardization system.

OpenRTM-aist research / development / standardization system

(G)Research and development on RT middleware started from the RT middleware project in 2002 and continued until the NEDO Intelligence Project from 2007, while seeking to enhance peripheral technologies in various projects (lower figure) .

Various projects related to OpenRTM-aist

(G)Below we outline the main projects so far.

RT Middleware related project

RT middleware project

(G)"Necessary element technology development for robot function development" project (common name: RT middleware project) is conducted in the 21st Century Robot Challenge Program (NEDO) New Integrated Development Organization New Energy and Industrial Technology Development Organization (NEDO) I was told. In this project, research and development of Distributed Middleware (RT middleware) for robots was conducted. As a result, middleware interface specification was developed, and implementation based on the specification OpenRTM-aist-0.2.0 was released.

Distributed component type robot simulator

(G)This project, which was carried out from 2005 to 2007 by the Science Promotion Adjustment Fee, develops a distributed component framework suitable for the accumulation of robot software and a robot world simulator built on it, thereby reusing the foundation software To promote the development of next-generation robots more efficiently.

Distributed component type robot simulator

(G)This project has resulted in the integration of OpenRTM-aist with OpenHRP 3, which is a robot dynamics simulator developed separately at AIST.

(G)In order to develop the target system in the simulator and the external controller module etc. as RT component and to reuse the controller component without recompiling both the simulator and the actual machine, the execution context which is the logic driving entity of the RT component Has been expanded.

AIST Industry Innovation Research Initiative

(G)As an independent project, AIST conducted an industry-academia collaboration project called "AIST Industrial Innovation Research Initiative" from 2006 to 2008.

(G)Through prototype development of multiple next generation robots, we aimed to create an environment in which robot element technology is modularized as a reusable robot functional part in RT middleware and a combination of these modules can efficiently develop a new robot product .

(G)- AIST Press announcement: ■Industry-academic-government cooperation project "Development of user-oriented robot open architecture" started

(G)Robot elements such as power-saving high performance processor for robot developed so far at AIST, real-time Linux, distributed component simulator, active RF-ID, 3-dimensional vision, speech recognition under noisy, bipedal walking technology Modularize the technology using RT middleware and combine it to develop prototypes of different next generation robots. The robot system architecture based on RT middleware developed in this research is called user oriented robot open architecture UCROA (User Centered Robot Open Architecture).

UCROA (User Centered Robot Open Architecture)

(G)In this research and development project, we aimed to develop the following three types of robot systems and eventually achieved the following results.

Next generation robot intelligent technology development project

(G)"Next Generation Robot Intelligence Technology Development Project" (2007 - 2011) by the Ministry of Economy, Trade and Industry and NEDO is a large-scale project totaling 7 billion (forecast) over 5 years. We create and store element technologies for next-generation robot systems as RT components, establish methodologies for designing and implementing next-generation robots through discussions on common methods of reuse and interfaces, and in fact It is aimed at accumulating a lot of usable RT component groups.

(G)We also built a platform (called the OpenRT platform (OpenRTP)) for developing RT systems including various tools, middleware, and libraries that can be used in various phases of robot system development on OpenRTM-aist. The development tool suite is implemented as a plug-in of Eclipse, and it is a tool chain that can do a series of work in the same development environment.

OpenRT platform (OpenRTP)

(G)Data between tool chains is described in a format based on the RT component-based module specification description method and system specification description method (composed of UML model and XML schema), and the cooperation between the tools is made more reliable We are also aiming for standardization in the future. As the final result of the project, we are considering openness or commercialization of many RT component groups and tools created by publishing source code.

Open Innovation Promotion Project

(G)It is "open innovation promotion project utilizing foundation robot technology" conducted by NEDO for 3 years from 2008. In this project, we aim to develop inexpensive and compact base communication modules in order to easily make existing component parts into RT component. Furthermore, utilizing this infrastructure communication module, we have installed an intelligent housing that actually arranges sensors and actuators in various parts of houses and cooperates with diverse devices to create a safe, secure and comfortable living space We built it.


(G)Even outside the project, we are engaged in research, development and dissemination of OpenRTM-aist.

Training session

(G)Although it is irregular, I hold practical classes at various places at pace several times a year. Especially at the Mechanical Society of Robotics and Mechatronics lecture meeting, we hold a seminar every year as a tutorial.

RTM Contest

(G)As an event organized by the Robot Business Promotion Council and the SICE System Integration Department lecture meeting, we are offering RT middleware contests to recruit works of RT middleware and RT components and compete.

latest Releases

For Begginers

Windows msi(installer) package (only trying samples)

Development environment is required for RT-Component development. See download page for details.

Number of Projects


Dynamics simulator


Human-Robot-Interaction RTCs


Integrated Development Platform


Mobile Robot RTCs