An Activation Based Behaviour Control Architecture for Walking Machines

摘要

This paper introduces a behaviour network architecture for controlling walking machines. The behavior coordination problem is solved by distributing the activation of the behaviours according to the sensoric information as well as the specified task of the robot. This approach heavily emphasises the loop-back of the behaviour activities and the satisfaction of their goals. The results of initial experiments with this architecture on the four-legged walking machine BISAM are also presented.