Sensory Interactive Robots

✍ Scribed by James S. Albus; Anthony J. Barbera; M.L. Fitzgerald; Marilyn Nashman; R.D. Young

• Book ID: 104106429
• Publisher: International Academy for Production Engineering
• Year: 1981
• Tongue: English
• Weight: 448 KB
• Volume: 30
• Category: Article
• ISSN: 0007-8506
• DOI: 10.1016/s0007-8506(07)60167-x

✦ Synopsis

This paper describes a control system t h a t consists o f three p a r a l l e l cross coupled hierarchies. F i r s t is a control hierarclry which decomposes high level t a s k s i n t o primitive actions. Second is a sensory processing hierarchy t h a t analyses d a t a from t h e environment. Third is a vorld model hierarchy which generates expectations. These a r e compared against t h e sensory data a t each level o f t h e sensory processing hierarchy.

Deviations between expected and observed data is used by t h e control hierarchy t o modify its task decomposition s t r a t e g i e s so as t o generate sensory-interaction goal-directed behavior.

This system has been implemented on a research robot, using a netvork of microcomputers and real-time vision system mounted on the robot w r i s t .