Konferenzbeitrag
Development of an organic computing architecture for robot control
Lade...
Volltext URI
Dokumententyp
Text/Conference Paper
Zusatzinformation
Datum
2006
Autor:innen
Zeitschriftentitel
ISSN der Zeitschrift
Bandtitel
Verlag
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.