A Control Architecture for an Advanced Fault-Tolerant Robot System

Abstract

Abstract A major issue in robotic research is the development of advanced autonomous robots which are able to solve a difficult task in a complex environment. Besides the need for powerful sensing and planning capabilities, an autonomous system must incorporate a highly sophisticated control architecture. This paper describes an advanced robot control system which is being developed at the Institute for Real-Time Computer Control Systems and Robotics of the University of Karlsrube. As a test environment for the implementation of this architecture, the autonomous moible two-arm robot system KAMRO is used.