A Real-Time Hybrid Architecture for Biped Humanoids with Active Vision MechanismsReportar como inadecuado




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Resumen

A real-time hybrid control architecture for biped humanoid robots is proposed.The architecture is modular and hierarchical. The main robot’s functionalitiesare organized in four parallel modules: perception, actuation, world-modeling, andhybrid control. Hybrid control is divided in three behavior-based hierarchical layers:the planning layer, the deliberative layer, and the reactive layer, which work inparallel and have very different response speeds and planning capabilities. The architectureallows: 1 the coordination of multiple robots and the execution of groupbehaviors without disturbing the robot’s reactivity and responsivity, which is veryrelevant for biped humanoid robots whose gait control requires real-time processing.2 The straightforward management of the robot’s resources using resource multiplexers.3 The integration of active vision mechanisms in the reactive layer undercontrol of behavior-dependant value functions from the deliberative layer. This addsflexibility in the implementation of complex functionalities, such as the ones requiredfor playing soccer in robot teams. The architecture is validated using simulated andreal Nao humanoid robots. Passive and active behaviors are tested in simulated andreal robot soccer setups. In addition, the ability to execute group behaviors in realtimeis tested in international robot soccer competitions.



Autor: Testart, Javier; - Ruiz del Solar, Javier; - Schulz, Rodrigo; - Guerrero, Pablo; - Palma Amestoy, Rodrigo; -

Fuente: http://repositorio.uchile.cl/



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