In order to cope with many problems of everyday activities which requires
robots to accomplish complex yet routine tasks in changing environments, this study focuses
on universality and proposes seven principles of universal design with robots. These
principles are used to design ubiquitous robotic spaces. Further, in order to manage and to
control the ubiquitous robotic spaces with robots, ambient intelligent systems, and everyday
objects, we define inherent functions of objects as ubiquitous functions, and propose a
ubiquitous function service with service-oriented architecture for the integration and control
of physical and virtual objects under a unified framework, which is composed of smart
object service, smart logic service, and smart discovery service. In addition, in order to
provide flexible robustness to a robot functioning in the everyday domain, a reproducible
robust internal-loop compensator structure is proposed, and the structural design of smart
logic service based on this structure is illustrated.
