A behaviour-based robot is a purposeful and robust machine that operates in, and directly interacts with the environment. The design of a behavior-based robot bounds uncertainty of the real world local to a given task-achieving behavior. Each behavior has a known competence for robust and reliable operation in a specific real world context. Task-achieving behaviors collectively interact via the surrounding environment to produce the purposeful behavior. This paper describes a very small, legged robotic system, called herein the Mars Micro-Rover, to serve as a testbed to evaluate the performance potential of small legged robotic systems and their control architectures. A simple, biologically-inspired oscillatory network controls gait modulation based on environmental influences. A recurrent cyclic inhibition is chosen to generate a four-phasic pattern for Micro-Rover locomotion.


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    Titel :

    Design of a behavior-based micro-rover robot


    Weitere Titelangaben:

    Entwurf eines auf dem menschlichen Verhalten basierenden, mobilen Kleinroboters


    Beteiligte:
    Cherian, S. (Autor:in) / Troxell, W.O. (Autor:in) / Ali, M.M. (Autor:in)


    Erscheinungsdatum :

    1992


    Format / Umfang :

    8 Seiten, 5 Bilder, 16 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




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