Título del libro: Toward Artificial Sapience: Principles And Methods For Wise Systems
Título del capítulo: From robots with self-inhibiting modules to habile robots
JOSE NEGRETE Y MARTINEZ;
Autores externos:
Idioma:
Inglés
Año de publicación:
2008
Resumen:
I describe a new robot control architecture based on self-organization of self-inhibiting modules. This architecture can generate a complex behavior repertoire. The repertoire can be performance-enhanced or increased by modular polyfunctionality and/or by the simple addition of new modules. I postulate that this architecture can evolve, in the hands of the designer, to a Habile robot, a version of Nilsson's habile system. Each program module controls a joint motor or a motor for a pair of wheels. Every module estimates also the distance from a sensor (placed in the hand of the arm) to a beacon. If the distance is shorter or longer than a previously estimated distance, the module drives its motor in the corrective direction; if the movement produces no significant change in distance, the module self-inhibits. A self-organization emerges: once a module self-inhibits, any module can be the next to take control of the motor activity. The overall behavior of the robot corresponds to a reaching attention behavior. This is easily switched to an'adverse' attention behavior by changing the sign of the same parameter in each module. The addition of a sensor-gain attenuation reflex module and a light orientation reflexmodule provides an increase in the behavioral attention repertoire and performance enhancement. The 'brain' is actually providing action induction rather than action selection. © Springer 2008.
Entidades citadas de la UNAM:
ISBN:
9781846289989
Editorial:
Springer London Nombre de la publicación:
From robots with self-inhibiting modules to habile robots
Página inicial:
225
Página final:
232
