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International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems

IEA/AIE 1992: Industrial and Engineering Applications of Artificial Intelligence and Expert Systems pp 195–204Cite as

Tracking and grasping of moving objects — a behaviour-based approach —

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 604))

Abstract

Behaviour-based robotics (cf. Brooks [2]) has mainly been applied to the domain of autonomous systems and mobile robots. In this paper we show how this approach to robot programming can be used to design a flexible and robust controller for a five degrees of freedom (DOF) robot arm. The implementation of the robot controller to be presented features the sensor and motor patterns necessary to tackle a problem we consider to be hard to solve for traditional controllers. These sensor and motor patterns are linked together forming various behaviours. The global control structure based on Brooks' subsumption architecture will be outlined. It coordinates the individual behaviours into goal-directed behaviour of the robot without the necessity to program this emerging global behaviour explicitly and in advance. To conclude, some shortcomings of the current implementation are discussed and future work, especially in the field of reinforcement learning of individual behaviours, is sketched.

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References

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Author information

Authors and Affiliations

  1. Department of Computer Science, University of Bonn, Bonn, Germany

    Alexander Asteroth, Mark Sebastian Fischer & Knut Möller

  2. AI Research Division, GMD, Sankt Augustin, Germany

    Uwe Schnepf

Authors
  1. Alexander Asteroth
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  2. Mark Sebastian Fischer
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  3. Knut Möller
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  4. Uwe Schnepf
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Editor information

Fevzi Belli Franz Josef Radermacher

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© 1992 Springer-Verlag Berlin Heidelberg

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Asteroth, A., Fischer, M.S., Möller, K., Schnepf, U. (1992). Tracking and grasping of moving objects — a behaviour-based approach —. In: Belli, F., Radermacher, F.J. (eds) Industrial and Engineering Applications of Artificial Intelligence and Expert Systems. IEA/AIE 1992. Lecture Notes in Computer Science, vol 604. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0024971

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  • DOI: https://doi.org/10.1007/BFb0024971

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-55601-5

  • Online ISBN: 978-3-540-47251-3

  • eBook Packages: Springer Book Archive

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