Abstract
In this paper we propose a general framework for describing and constructing sensor-based behaviours. We point out that a complex high-level task can be realised by a set of modular, cooperating behaviours. Each of these behaviours can be decomposed into local control actions which can be interpreted using linguistic “IF-THEN” rules. Several sample applications in real-world robotic systems are presented: a mobile gripper system equipped with proximity sensors and a two arm system with force/torque sensors. For controllers without sensor-action models, this framework can be universally applied after properly selecting the system inputs. Furthermore, “common sense” knowledge can be integrated and the control parameters can be rapidly adapted through incremental learning.
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© 1999 Springer-Verlag Berlin Heidelberg
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Zhang, J., Knoll, A. (1999). From numerical interpolation to constructing intelligent behaviours. In: Ralescu, A.L., Shanahan, J.G. (eds) Fuzzy Logic in Artificial Intelligence. FLAI 1997. Lecture Notes in Computer Science, vol 1566. Springer, Berlin, Heidelberg . https://doi.org/10.1007/BFb0095080
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DOI: https://doi.org/10.1007/BFb0095080
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