Transactions of the Korean Society of Machine Tool Engineers (한국공작기계학회논문집)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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A Study on Behavior-based Hybrid Control Architecture for Intelligent Robot

지능로봇을 위한 행위기반의 하이브리드 제어구조에 관한 연구

  • 김광일 (부산대 대학원 지능기계공학과) ;
  • 최경현 (제주대학교 기계에너지시스템공학부) ;
  • 이석희 (부산대학교 기계공학부)
  • Published : 2005.10.01
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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

References

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