A Behavior-Based Arm Controller

Abstract

In this paper we describe a working, implemented controller for a real, physical mobile robot arm. The controller is composed of a collection of 15 independent behaviors which run, in real time, on a set of eight loosely- coupled on-board 8-bit microprocessors. We describe how these behaviors cooperate to actually seek out and retrieve objects using local sensory data. We also discuss the methodology used to decompose this collection task and the types of spatial representation and reasoning used by the system.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 1988
Accession Number
ADA200666

Entities

People

  • Jonathan H. Connell

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Boundaries
  • Composite Materials
  • Computer Programming
  • Control
  • Control Systems
  • Detectors
  • Information Processing
  • Information Systems
  • Infrared Detectors
  • Language
  • Leading Edges
  • Military Research
  • Multiagent Systems
  • Robots
  • Sensor Fusion
  • Suppressors

Fields of Study

  • Computer science

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Parallel and Distributed Computing.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control