Dynamic Programming for Robot Control in Real-time: Towards a Morphology Programming.

Abstract

Industrial or personal robots need more flexibility to manage a large-scale of contexts in instable environment. Currently, for each robot building, there is a conception, a design and a development to adapte the robot to an environment and a context. In this paper, we present a method based on a multiagent system to move towards a generic algorythm in order to control robot in real time. We present current problems for robots conception, features for the dynamic programming and technics and model to build the system. To finish, we expose different experiments based on the Aibo ERS7 by Sony, we observe the behavior of the robot according to its ontology and goals. Currently, a work on the synchronization between knowledge and action is in progress to move towards a more natural physical behavior.