Special Issue: Robot Behavior. Architecture. Robot Motion Control Using Subsumption Architecture.

Mobile Robot Control - The Subsumption Architecture and occam-pi

Brooks’ subsumption architecture is a design paradigm for mobile robot control that emphasises re-use of modules, decentralisation and concurrent, communicating processes. Through the use of occam-pi the subsumption architecture can be put to use on general purpose modern robotics hardware, providing a clean and robust development approach for the creation of robot control systems.

Saphira Robot Control Architecture

Force-based Control of a Six-legged Robot on Abrupt Terrain Using the Subsumption Architecture

We have developed a controller for a six-legged robot that allows it to walk on rough or even abrupt terrain using only force sensors as feedback. In an initial approach, which at rst seemed natural, we took a subsumption-based controller tailored to walk on at surfaces and tried to add a force-compliance layer on top of it, thus maintaining the modularity of the design and building the control...

Swapping Evolved Behaviours in a Subsumption Architecture Robot

In recent robotics research two methodologies have become prevalent; the subsumption architecture which uses several ‘hand-coded’ behaviours running in parallel, and evolutionary robotics which aims to evolve a single holistic controller. Both of these approaches suffer from a certain lack of scalability and it is proposed that a hybrid approach might enable that boundary to be pushed a little ...

One-Chip Solution to Intelligent Robot Control: Implementing Hexapod Subsumption Architecture Using a Contemporary Microprocessor

This paper introduces a six-legged autonomous robot managed by a single controller and a software core modeled on subsumption architecture. We begin by discussing the features and capabilities of IsoPod, a new processor for robotics which has enabled a streamlined implementation of our project. We argue that this processor offers a unique set of hardware and software features, making it a pract...