A Modular Control System for a Cognitive Robotic Architecture
نویسنده
چکیده
Novel, complex movement tasks present a daunting challenge to an independent robotic system. This paper details a solution to the problem of generating such motions by selecting relevant behaviors with a Working Memory System and combining the selected behaviors with error-based control. This system is used to drive motion within the cognitive framework of the humanoid robot ISAC.
منابع مشابه
Modular approach for an ASIC integration of electrical drive controls
VLSI circuits design allows today to consider new modes of implementation for electrical controls. However, design techniques require an adaptation effort that few designers, too accustomed to the software approach, provide. The authors of this article propose to develop a methodology to guide the electrical designers towards optimal performances of control algorithms implementation. Thus, they...
متن کاملSelf-Reconfigurable Modular Robot
We have proposed a self-reconfigurable robotic module, which has a very simple structure. The system is capable of not only building static structure but generating dynamic robotic motion. We also developed a simulator for motion planning. In this paper, we present details of the mechanical / electrical design of the developed module and its control system architecture. Experiments using ten mo...
متن کاملA Comparison of the Sensor Brick Concept as a Modular System Architecture to the Realtime Control System as the Operational Architecture
In this thesis, an application of modular design, introduced into an intelligent mobile robotic system, is described. The Sensor Brick System, a mobile robotic system infused with artificial intelligence, is derived through the concept and application of modular design. Modular design drives the system’s characterization by defining, identifying and selecting the essential composite of sub-syst...
متن کاملDiscrete-time repetitive optimal control: Robotic manipulators
This paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. The proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. This kind of control law is in the class of torque-based control in which the joint torques are generated by permanen...
متن کاملControl of a Six-Legged Mobile Robot Using the Soar Cognitive Architecture
This paper describes the development of the Cognitive Robotic System (CRS) for studying intelligent and autonomous unmanned vehicles. This system uses a multi-threaded software system written using Java to integrate the Soar cognitive architecture with a sixlegged mobile robot and its sensors and motors. The results of experiments in which the Cognitive Robotic System was used to control the he...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2004