Development of an Organic Computing Architecture for Robot Control.

Abstract

Motivated by the vision of Organic Computing, aconcept is proposed towards building amore robust robot control architecture. An experimental setup is described that allows to develop, implement and test new approaches and their practical realizations on awalking robot demonstrator. These experiments demonstrate that normal walking of the robot can be distinguished from the walking with adefective leg or against an obstacle by observing appropriate sensor signals from the legs. Based on this, the properties of self-adaptation and self-reconfiguration in case of malfunctions of some parts or in case of obstacle avoidance can be realized.