A Supervised Hybrid Control Architecture for Home Service Robot

• 영문명: A Supervised Hybrid Control Architecture for Home Service Robot
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Yeon-Gon Seo Jin-Oh Kim
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Human-friendly Welfare Robotic Systems Vol.3 No.3, 34~42쪽, 전체 9쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2002.10.01

영문 초록

  As the possible applications for robots increase and involve more complicated environments and tasks, they need more appropriate control architectures. Previous control architectures have fixed configurations that are optimized for specific applications or with limited flexibility. Consequently, they fail to provide the flexibility needed for various robot kinematical configurations as well as various tasks. To this end, we propose a new control architecture called "Supervised Hybrid Architecture (SHA)". SHA is based on supervised organization and distributed arbitration of hybrid controls of reconfigurable deliberative and reactive modules. It is composed of upper level hybrid control for high-level intelligence to interact with human and to plan tasks, as well as lower level hybrid control to allow low-level intelligence for prompt reaction in each robot configuration module. Through these double layers of the hybrid controller, we could provide the flexibility needed for so many different kinematical configurations and tasks. In addition, it is very easy to add or remove robot configuration modules. The proposed architecture are implemented and tested to show how it works successfully.

목차

Abstract
Ⅰ. INTRODUCTION
Ⅱ. PREVIOUS CONTROL ARCHITECTURES AND REQUIREMENT ENGINEERING
Ⅲ. PROPOSED CONTROL ARCHITECTURE
Ⅳ. IMPLEMENTATION AND EXPERIMENT
Ⅴ. CONCLUSION
ACKNOWLEDGEMENT
REFERENCES

키워드

Home Service Robots Supervised Hybrid Architecture Reconfigurable Modular Design Deliberative Control Reactive Control