A legged - robot team coping with uncertainty Team - Sweden

The Swedish national effort to program a team of Sony Legged Robots is described. Each robot uses a layered architecture for real-time situation assessment and decision making, inspired by the Thinking Cap and the Saphira architectures. Context-dependent blending simplifies the integration of higher-level, symbolic deliberation processes and lower level, and numeric control processes. Basic behaviors, as well as the blending mechanism, are implemented using fuzzy logic techniques for coping with uncertainty. A reactive planner is used to generate directions to the lower level about the activation of behaviors.