Multi-agent Architecture For Controlling A Multi-fingered Robot

Abstract

A multi-fingered robot is an artificial organ with many sensors and actuators which require both real-time control and higherlevel motion coordination. A two-layered task architecture for the control of a multi-fingered robot is presented. A control unit, called an agent, is split into two tasks, lower and upper. While a lower task is performing real-time computation, the upper task takes care of communication with other agents. The system is implemented with VxWorks on multi processors and an agent network for the description of a pick-up grasping task is shown.