An Activation-Based Behavior Control Architecture for Walking Machines  

Oleh:

Albiez, Jan ; Luksch, Tobias ; Berns, Karsten ; Dillmann, Rüdiger

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 22 no. 3-4 (Mar. 2003), page 203-211.
Topik: behavior-based control; four-leggedwalking machine; biological-inspired robotics
Fulltext: 203.pdf (392.79KB)

Isi artikel

The high complexity of the mechanical system and the challenging task of walking itself makes the task of designing the control for legged robots a difficult one. Even if the implementation of parts of the desired functionality, such as posture control or basic swing/stance movement, can be solved by the use of classical engineering approaches, the control of the overall system tends to be very inflexible.In this paper we introduce a new method to combine aspects of classical robot control and behavior-based control. Inspired by the activation patterns in the brain and the spinal cord of animals, we propose a behavior network architecture using special signals such as activity or target rating to influence and coordinate the behaviors. We describe the general concept of a single behavior as well as their interaction within the network. This architecture is tested on the four-legged walking machine, BISAM, and experimental results are presented.

Opini Anda

Klik untuk menuliskan opini Anda tentang koleksi ini!

Kembali