2024-03-28T11:57:52Zhttp://digital.csic.es/dspace-oai/requestoai:digital.csic.es:10261/300212019-06-10T14:58:42Zcom_10261_106com_10261_4col_10261_485
Adding a force-compliance layer to a subsumption-based control for a walking robot
Celaya, Enric
Porta, Josep M.
Automation
European Conference on Artificial Life (ECAL), 1995, Granada, Spain, Universidad de Granada.
In our attempt to improve an existing walking controller for a Genghis II robot with a force-compliance layer, we found that directly adding the new behaviors as a higher layer, actually required important modifications to be made within the existing layers. Worse than that, maintaining the layered structure according to the philosophy of the subsumption architecture became an added constraint to have in mind, instead of serving as a guiding principle to make things easier. As a result we got a controller that was difficult to understand and whose performance was not particularly good.
Peer Reviewed
2010-12-15T09:09:55Z
2010-12-15T09:09:55Z
1995
comunicaciĆ³n de congreso
http://purl.org/coar/resource_type/c_5794
3rd European Conference on Artificial Life : 1-1 (1995),
http://hdl.handle.net/10261/30021
en
open
Universidad de Granada