TY - GEN
T1 - Dynamic skill-based software architecture for locomotion control in shape reconfigurable mobile robots
AU - Rai, Laxmisha
AU - Kang, Soon Ju
AU - Rim, Kee Wook
PY - 2006
Y1 - 2006
N2 - This paper presents dynamic skill-based software architecture for locomotion control in shape reconfigurable mobile robots. The paper first describes multi-thread based synchronization locomotion control model, which is applied in a mobile snake robot and physically reconfigured four-legged robot. The robots share common multithreaded software architecture and hardware modules, which use the concepts of sections and units. The various "skill sets" are mapped to various threads and these threads again mapped to section modules of the robots. Each robot section consists of smallest movable robot modules termed as units. The units comprise of sensors and actuator blocks. We map these units to "skills" in our architecture. The synchronized sets of skills are responsible for robot locomotion. The dynamic selection and synchronization of "skill-sets" enable the mobile robot to perform many tasks in complex situations. The architecture is a layered architecture which includes reasoning layer, skill-set layer, skill layer and sensor-actuator layer. The architecture can be dynamically reconfigured for various movements like backward, forward, side winding etc using proper selection of skill-sets.
AB - This paper presents dynamic skill-based software architecture for locomotion control in shape reconfigurable mobile robots. The paper first describes multi-thread based synchronization locomotion control model, which is applied in a mobile snake robot and physically reconfigured four-legged robot. The robots share common multithreaded software architecture and hardware modules, which use the concepts of sections and units. The various "skill sets" are mapped to various threads and these threads again mapped to section modules of the robots. Each robot section consists of smallest movable robot modules termed as units. The units comprise of sensors and actuator blocks. We map these units to "skills" in our architecture. The synchronized sets of skills are responsible for robot locomotion. The dynamic selection and synchronization of "skill-sets" enable the mobile robot to perform many tasks in complex situations. The architecture is a layered architecture which includes reasoning layer, skill-set layer, skill layer and sensor-actuator layer. The architecture can be dynamically reconfigured for various movements like backward, forward, side winding etc using proper selection of skill-sets.
UR - http://www.scopus.com/inward/record.url?scp=33750917281&partnerID=8YFLogxK
U2 - 10.1109/SEUS-WCCIA.2006.24
DO - 10.1109/SEUS-WCCIA.2006.24
M3 - Conference contribution
AN - SCOPUS:33750917281
SN - 0769525601
SN - 9780769525600
T3 - Proc. - The Fourth IEEE Workshop on Software Technol. for Future Embedded and Ubiquitous Syst., SEUS 2006 andthe Second Int. Workshop on Collaborative Comput., Integr., and Assur., WCCIA 2006
SP - 29
EP - 34
BT - Proc. - The Fourth IEEE Workshop on Software Technol. for Future Embedded and Ubiquitous Systems, SEUS 2006 andthe Second Int. Workshop on Collaborative Computing, Integr., and Assurance, WCCIA 2006
T2 - 4th IEEE Workshop on Software Technologies for Future Embedded and Ubiquitous Systems, SEUS 2006 andthe 2nd International Workshop on Collaborative Computing, Integration, and Assurance, WCCIA 2006
Y2 - 27 April 2006 through 28 April 2006
ER -