About cookies on this site Our websites require some cookies to function properly (required). In addition, other cookies may be used with your consent to analyze site usage, improve the user experience and for advertising. For more information, please review your options. By visiting our website, you agree to our processing of information as described in IBM’sprivacy statement. To provide a smooth navigation, your cookie preferences will be shared across the IBM web domains listed here.
Publication
IEEE Transactions on Robotics and Automation
Paper
A Behavior-Based Arm Controller
Abstract
We present a working, implemented controller for an actul mobile robot arm. The goal of the system is to locate and retrieve empty soda cans in an unstructured environment using a variety of local sensors. Our controller, however, is not a centralized sequential program, but rather a collection of 15 independent behaviors. Each of these behaviors contains some grain of expertise concerning the collection task and cooperates with the others to accomplish its goal. These behaviors run concurrently, in real time, on a set of eight loosely coupled on-board 8-bit microprocessors. In this paper we describe the methodology used to decompose the collection task and discuss the types of implicit spatial representation and reasoning used by the system. © 1989 IEEE