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Adding a force-compliance layer to a subsumption-based control for a walking robot

AuthorsCelaya, Enric ; Porta, Josep M.
Issue Date1995
PublisherUniversidad de Granada
Citation3rd European Conference on Artificial Life : 1-1 (1995),
AbstractIn 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.
DescriptionEuropean Conference on Artificial Life (ECAL), 1995, Granada, Spain, Universidad de Granada.
Appears in Collections:(IRII) Comunicaciones congresos
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