Intelligent Embedded Real-Time Software Architecture for Dynamic Skill Selection and Identification in Multi-shaped Robots

Abstract

This paper presents an intelligent embedded, modular software and hardware architecture for multi-shaped robots using real-time dynamic skill identification and selection. It is a layered architecture with reusable and reconfigurable modules, which can embed in an expert system as both hardware and software modules and demonstrated with snake robot and physically reconfigured four-legged robot as examples. The intelligent dynamic selection and synchronization of selected behaviors enable the mobile robot to perform many tasks in complex situations. The architecture proposed is applicable to multi-shaped robots, for dynamic selection of behaviors during reconfiguration, where the hardware and software modules can be reused during reconfiguration. Related videos of these robots can be viewed at: http://rtlab.knu.ac.kr/robots.htm