面向移动机器人的嵌入式系统级体系结构

C. McGinn, M. Cullinan, G. Walsh, Cian Donavan, Kevin Kelly
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引用次数: 2

摘要

在机器人技术中,系统架构指的是机器人的控制组件(包括传感器、执行器、微控制器和计算机)的连接方式以及信息在它们之间的流动方式。本文描述了一种两层混合架构的发展,它从具身人工智能和社会智能理论的概念中获得了密切的灵感。架构的设计需求是假定的,它们的包含是合理的。所提出的架构的原型实施例已经在“Robbie”机器人上实际实现,并对其实现进行了详细的讨论。低层次本体感觉系统通过跟踪机器人随时间的正向运动来证明。此外,传感器读数从低级控制组件传输到高级控制组件的速度被量化,以传达系统的可扩展性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Towards an embodied system-level architecture for mobile robots
In robotics, a system architecture refers to the manner in which a robot's control components (including sensors, actuators, microcontrollers and computers) are connected and how information flows between them. This paper describes the development of a two-tiered hybrid architecture which draws close inspiration from concepts in both embodied artificial intelligence as well as social intelligence theory. The design requirements for the architecture are postulated and their inclusion justified. A prototype embodiment of the proposed architecture has been practically implemented on the “Robbie” robot and a detailed discussion of its implementation is presented. The low-level proprioceptive system is demonstrated by tracking the forward kinematics of the robot over time. Additionally, the speed with which sensor readings are transferred from low-level to high-level control components is quantified to convey the scalability of the system.
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