NDLI: Dynamic skill-based software architecture for locomotion control in shape reconfigurable mobile robots

Content Provider	IEEE Xplore Digital Library
Author	Laxmisha Rai Soon Ju Kang Kee-Wook Rim
Copyright Year	2006
Description	Author affiliation: Sch. of Electr. Eng. & Comput. Sci., Kyungpook Nat. Univ. (Laxmisha Rai; Soon Ju Kang)
Abstract	This paper presents dynamic skill-based software architecture for locomotion control in shape reconfigurable mobile robots. The paper first describes multi-thread based synchronization locomotion control model, which is applied in a mobile snake robot and physically reconfigured four-legged robot. The robots share common multithreaded software architecture and hardware modules, which use the concepts of sections and units. The various "skill sets" are mapped to various threads and these threads again mapped to section modules of the robots. Each robot section consists of smallest movable robot modules termed as units. The units comprise of sensors and actuator blocks. We map these units to "skills" in our architecture. The synchronized sets of skills are responsible for robot locomotion. The dynamic selection and synchronization of "skill-sets" enable the mobile robot to perform many tasks in complex situations. The architecture is a layered architecture which includes reasoning layer, skill-set layer, skill layer and sensor-actuator layer. The architecture can be dynamically reconfigured for various movements like backward, forward, side winding etc using proper selection of skill-sets
File Size	441452
File Format	PDF
ISBN	0769525601
DOI	10.1109/SEUS-WCCIA.2006.24
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-04-27
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Shape control Software architecture Mobile robots Robot sensing systems Legged locomotion Hardware Yarn Robot control Motion planning Computer architecture
Content Type	Text
Resource Type	Article

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