Heterogeneous
Systems
Different periods,
RT/Non-RT, and
hardware coexist
iROBE PLATFORM
System Operating
Clear structure first —
System Operating
Platform
Clear structure first —
then complex systems, easier and faster.
iRobe prioritizes Agent · State Machine · Task Domain · Task · Unit. That model makes complex system composition easier and faster to implement. It does not replace Linux, RTOS, ROS 2, or control algorithms.
AgentOperating Boundary
State MachineEvent-Driven Operation
Task DomainFunctional Structure
TaskHierarchical Organization
UnitRTUnit / NonRTUnit
InfrastructureExecutors & Adapters
10+Years of Engineering
Experience
50+Projects Completed
5+Industries Served
100%Engineering-Driven
Approach
01
Why iRobe?
Born from humanoid and embedded work, iRobe puts structure first. When fixed functional structure is operated by state and rules, complex system composition becomes easier and faster to implement.
View Model →Heterogeneous
Structure &
Operation
Task Domain defines
structure; State Machine
governs operation
Task &
Unit
Task organizes
function; Unit is the
leaf execution abstraction
Event &
Snapshot
Events drive operation;
Snapshots carry latest
stable execution state
Easier &
Faster Builds
Implement complex
composition on a
clear shared model
02
iRobe Architecture
Structure and operation, organization and execution stay separated — that logical model comes first. Keep those boundaries, and complex systems become easier and faster to compose. Framework infrastructure realizes the model without becoming a new logical layer.
View Baseline →Structure & OperationTask Domain · State Machine
Organization & ExecutionTask · Unit (RT / Non-RT)
Event & SnapshotOperation change · Stable state
Multi-Rate NativeDifferent periods in one Task
Logical Model
Agent
State MachineEvent Queue · State · Transition · Operating Decision
Task DomainExactly one per Agent · Fixed functional structure
TaskHierarchical function organization · Not a scheduler
Unit (Leaf Execution)
RTUnitNonRTUnitPeriod / PriorityTrigger
Framework Infrastructurerealizes the model — not a logical layer
ContractsEvent Queue · Snapshot · RT / Non-RT Executor · Timer / Worker
Integration Adapters
ROS 2SimulationEtherCAT / CANUART / SPI / I2COther I/O
03Architecture
Architecture
Baseline
Freeze candidate principles that keep structure, operation, and execution separated — so complex composition stays easier and faster.
State-Centered
Operation
Every Agent is operated by a State Machine driven by Events — not by rebuilding the Task tree.
Fixed Task
Domain
One Task Domain per Agent. Structure is configured at init and kept stable during operation.
RTUnit /
NonRTUnit
Execution contracts live on Units. RT and Non-RT coexist under the same Task hierarchy.
Event &
Snapshot
Events carry operational change. Snapshots publish the latest stable execution state.
Multi-Rate
Execution
Different periods and triggers can coexist in one Task — e.g. 1 kHz RT with slower Non-RT.
Adapters,
Not Core
ROS 2, simulation, and hardware adapters integrate below the logical model — they do not own it.
04
Same Model, Different Domains
Humanoid, mobile, industrial, and EV share one logical shape. With the same structure, different domains are easier and faster to compose.
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