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Development of an organic computing architecture for robot control

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2006

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Gesellschaft für Informatik e.V.

Zusammenfassung

Motivated by the vision of Organic Computing, a concept is proposed towards building a more robust robot control architecture. An experimental setup is described that allows to develop, implement and test new approaches and their practical realizations on a walking robot demonstrator. These experiments demonstrate that normal walking of the robot can be distinguished from the walking with a defective leg or against an obstacle by observing appropriate sensor signals from the legs. Based on this, the properties of self-adaptation and self-reconfiguration in case of malfunctions of some parts or in case of obstacle avoidance can be realized.

Beschreibung

Jakimovski, Bojan; Litza, Marek; Msch, Florian; Sayed Auf, Adam el (2006): Development of an organic computing architecture for robot control. INFORMATIK 2006 – Informatik für Menschen, Band 1. Bonn: Gesellschaft für Informatik e.V.. PISSN: 1617-5468. ISBN: 978-3-88579-187-4. pp. 145-152. Regular Research Papers. Dresden. 2.-6. Oktober 2006

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