Behavior-Based Control Architecture for Legged-and-Climber Robots

In this paper, we present a fully original control architecture for legged-and-climber robots that is level-based, hierarchical, and centralized. The gives the ability to perform self-reconfiguration after unforeseen leg failures, because it can kind of robot with different numbers legs. results show capability performing movements in any direction inclination planes. components functionalities developed these are described, and, architecture’s performance tested on ROMHEX robot.