Tracking and Grasping of Moving Objects: A Behaviour-Based Approach

摘要

Behavior-based robotics has mainly been applied to the domain of autonomoussystems and mobile robots. The paper shows how this approach to robot programming can be used to design a flexible and robust controller for a five degrees of freedom (DOF) robot arm. The implementation of the robot controller to be presented features the sensor and motor patterns necessary to tackle a problem considered to be hard to solve for traditional controllers. These sensor and motor patterns are linked together forming various behaviors. The global control structure will be outlined. It coordinates the individual behaviors into goal-directed behavior of the robot without the necessity to program this emerging global behavior explicitly and in advance. To conclude, some shortcomings of the current implementation are discussed and future work, especially in the field of reinforcement learning of individual behaviors, is sketched.