NDLI: A Real-Time Hybrid Architecture for Biped Humanoids with Active Vision Mechanisms

Content Provider	Springer Nature Link
Author	Testart, Javier Ruiz del Solar, Javier Schulz, Rodrigo Guerrero, Pablo Palma Amestoy, Rodrigo
Copyright Year	2010
Abstract	A real-time hybrid control architecture for biped humanoid robots is proposed. The architecture is modular and hierarchical. The main robot’s functionalities are organized in four parallel modules: perception, actuation, world-modeling, and hybrid control. Hybrid control is divided in three behavior-based hierarchical layers: the planning layer, the deliberative layer, and the reactive layer, which work in parallel and have very different response speeds and planning capabilities. The architecture allows: (1) the coordination of multiple robots and the execution of group behaviors without disturbing the robot’s reactivity and responsivity, which is very relevant for biped humanoid robots whose gait control requires real-time processing. (2) The straightforward management of the robot’s resources using resource multiplexers. (3) The integration of active vision mechanisms in the reactive layer under control of behavior-dependant value functions from the deliberative layer. This adds flexibility in the implementation of complex functionalities, such as the ones required for playing soccer in robot teams. The architecture is validated using simulated and real Nao humanoid robots. Passive and active behaviors are tested in simulated and real robot soccer setups. In addition, the ability to execute group behaviors in real- time is tested in international robot soccer competitions.
Starting Page	233
Ending Page	255
Page Count	23
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	63
Issue Number	2
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2010-12-30
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Hybrid control architecture Active vision Nao humanoid robots Robot soccer Control, Robotics, Mechatronics Mechanical Engineering Artificial Intelligence (incl. Robotics) Electrical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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