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A Study on Behavior-based Hybrid Control Architecture for Intelligent Robot  

Kim Kwang-Il (부산대 대학원 지능기계공학과)
Choi Kyung-Hyun (제주대학교 기계에너지시스템공학부)
Lee Seok-Hee (부산대학교 기계공학부)
Publication Information
Transactions of the Korean Society of Machine Tool Engineers / v.14, no.5, 2005 , pp. 27-34 More about this Journal
Abstract
To accomplish various and complex tasks by intelligent robots, improvement is needed not only in mechanical system architecture but also in control system architecture. Hybrid control architecture has been suggested as a mutually complementing architecture of the weak points of a deliberative and a reactive control. This paper addresses a control architecture of robots, and a behavior representation methodology. The suggested control architecture consists of three layers of deliberative, sequencing, and reactive as hybrid control architecture. Multi-layer behavior model is employed to represent desired tasks. 3D simulation will be conducted to verify the applicability of suggested control architecture and behavior representation method.
Keywords
Intelligent Robot; Hybrid Control Architecture; Deliberative Control; Behavior-based Control; Task Representation;
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