Abstract
A new control architecture for real-world-oriented robots is presented. Awareness of the issue lies in the conventional subsumption architecture, in which outputs from multiple layers often conflict with each other and a naïve prioritization of the upper layer by an override of the lower layer reduces the system responsivity against accidental events. The proposed architecture fundamentally avoids such a conflict in a way that the upper-layers modify functions of the lower layers through modulations of internal parameters in them and make the sole output from the bottom layer adapt to situations. This architecture provides a design criterion of each unit function module such that it accepts incomplete and noisy information from the upper-layer modules asynchronously. Simultaneous exploration and navigation (SEAN) system for a biped robot was implemented based on the architecture and evaluated on a computer simulation.
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Acknowledgment
This work was supported by Grant-in-Aid for Scientific Research (B) #18H03310, Ministry of Education, Culture, Sports, Science and Technology-Japan.
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Sugihara, T., Yamamoto, T. (2022). Stacked Modulation Architecture for Simultaneous Exploration and Navigation of a Biped Robot. In: Chugo, D., Tokhi, M.O., Silva, M.F., Nakamura, T., Goher, K. (eds) Robotics for Sustainable Future. CLAWAR 2021. Lecture Notes in Networks and Systems, vol 324. Springer, Cham. https://doi.org/10.1007/978-3-030-86294-7_2
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DOI: https://doi.org/10.1007/978-3-030-86294-7_2
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