A hierarchical architecture for behavior-based robots
Proceedings of the first international joint conference on Autonomous agents and multiagent systems: part 1
Multi-Thread Based Synchronization of Locomotion Control in Snake Robots
RTCSA '05 Proceedings of the 11th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications
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This paper presents an intelligent embedded, modular software and hardware architecture for multi-shaped robots using real-time dynamic skill identification and selection. It is a layered architecture with reusable and reconfigurable modules, which can embed in an expert system as both hardware and software modules and demonstrated with snake robot and physically reconfigured four-legged robot as examples. The intelligent dynamic selection and synchronization of selected behaviors enable the mobile robot to perform many tasks in complex situations. The architecture proposed is applicable to multi-shaped robots, for dynamic selection of behaviors during reconfiguration, where the hardware and software modules can be reused during reconfiguration. Related videos of these robots can be viewed at: http://rtlab.knu.ac.kr/robots.htm