TAILIEUCHUNG - control program structure of humanoid robot

Man's technological ascent began in earnest in what is known as the Neolithic period ("New stone age"). The invention of polished stone axes was a major advance because it allowed forest clearance on a large scale to create farms. The discovery of agriculture allowed for the feeding of larger populations, and the transition to a sedentist lifestyle increased the number of children that could be simultaneously raised, as young children no longer needed to be carried, as was the case with the nomadic lifestyle. Additionally, children could contribute labor to the raising of crops more readily than they could to. | Control program structure of Humanoid Robot Shigeto Aramaki 1 Hiroshi Shirouzu 2 Kentarou Kurashige 1 Taketoshi Kinoshita 1 1 Faculty of Engineering Fukuoka University 2 Kyushu Matsusita Electric Co. LTD. key words humanoid control program parallel processing production system Abstract In this paper the new control program structure for humanoid robot which consists of multi-CPU multi-OS and multi-task is described. And the method for planning action from multiple sensor information by using the Production system is also described. Task program has hierarchical structure like as human being has conscious action and unconscious action. Our design concept is generality of task. We want to make a control program independently on the architecture of a robot and other tasks. We also want to make software architecture simple. Task program is divided into three levels. Tasks must communicate each other. However if one task can communicate another task at random the amount of communication increases exponentially. Therefore we made a rule of task in order to make the amount of communication linearly increase. On the other hand a robot must determine next action from multiple sensor information. We introduced the reasoning mechanism of Production system for determining next action. It becomes easy to determine next action from multiple sensor input by using this method. We could make a robot grasp a block by using this method and simulator and we confirmed the effectiveness of methods mentioned above. I. Introduction Now the humanoid robot has been developed in many research institutes l - 5 . The development of the integration mechanism of action and sense has been also carried out 6Ị. However the algorithm which decides the action by processing the multiple sensor information has not been developed so much. We built the humanoid robot which behaves the same in the space as the human 7Ị. The mechanism and functions as vision sensor acoustic sensor and loudspeaker are .

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