SOFTWARE ARCHITECTURE AND TASK DEFINITION OF A MULTIPLE HUMANOID COOPERATIVE CONTROL SYSTEM

Title
SOFTWARE ARCHITECTURE AND TASK DEFINITION OF A MULTIPLE HUMANOID COOPERATIVE CONTROL SYSTEM
Authors
임헌영강연식이중재김종원유범재
Keywords
Humanoid Team; Multiple Robot; Cooperative Control; Robot Control Software
Issue Date
2009-06
Publisher
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS
Citation
VOL 6, NO 2, 173-203
Abstract
This paper presents a cooperative control software architecture that coordinates a team of multiple humanoid to complete a mission by collaborating with each other. The mission of the humanoid team is decomposed into tasks and distributed to each humanoid to be executed. Each task is described by the proposed humanoid action primitives, which are designed to abstract broad classes of humanoid tasks appropriately. In particular, missions and tasks for the humanoid team are designed by using a finite state machine with a developed user interface. The multiple humanoid cooperative control software consists of 3 layers: the mission layer, task layer, and action layer. The software architecture has scalability to the number of humanoids and the number of assigned missions with its framework based on the CORBA middleware, which integrates many different functionalities of the humanoid. The feasibility and robustness of the implemented software architecture are verified through successful completion of the mission assigned to the humanoid team while each humanoid performs its given task sequentially.
URI
http://pubs.kist.re.kr/handle/201004/35595
ISSN
0219-8436
Appears in Collections:
KIST Publication > Article
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