Application of the Organic Robot Control Architecture ORCA to the Six-Legged Walking Robot OSCAR

Erik Maehle; Werner Brockmann; Bojan Jakimovski; Stephan Krannich; Marek Litza; Raphael Maas; Karl Erwin Großpietsch; Adam-Pharaoun El Sayed Auf; AHMAD AL-HOMSY

doi:10.1007/978-3-0348-0130-0_34

Application of the Organic Robot Control Architecture ORCA to the Six-Legged Walking Robot OSCAR

Erik Maehle, Werner Brockmann, Bojan Jakimovski, Stephan Krannich, Marek Litza, Raphael Maas, Karl Erwin Großpietsch, Adam-Pharaoun El Sayed Auf, AHMAD AL-HOMSY

Institute of Computer Engineering

Abstract

Walking robots are complex machines, which are challenging to engineer and to program. In order to master this complexity, in this article Organic Computing (OC) principles in terms of self-organisation, self-reconfiguration and self-healing are applied to a six-legged walking robot named OSCAR (Organic Self-Configuring and Adapting Robot). The Organic Robot Control Architecture ORCA, developed in the same project, provides the architectural framework. OC principles are employed on all layers of the hierarchical robot control system starting at the reflexive layer with gait generation and reflexes over the reactive behavioural layer up to the deliberative planning layer. Many experimental evaluations with OSCAR have shown that the robot is able to flexibly adapt to internal faults as well as to unforeseen environmental situations and thus continues its mission in the best still possible way.

Original language	English
Title of host publication	Organic Computing --- A Paradigm Shift for Complex Systems
Editors	Christian Müller-Schloer, Hartmut Schmeck, Theo Ungerer
Number of pages	14
Place of Publication	Basel
Publisher	Springer Basel
Publication date	2011
Pages	517-530
ISBN (Print)	978-3-0348-0129-4
ISBN (Electronic)	978-3-0348-0130-0
DOIs	https://doi.org/10.1007/978-3-0348-0130-0_34
Publication status	Published - 2011

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10.1007/978-3-0348-0130-0_34

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Maehle, E., Brockmann, W., Jakimovski, B., Krannich, S., Litza, M., Maas, R., Großpietsch, K. E., El Sayed Auf, A.-P., & AL-HOMSY, AHMAD. (2011). Application of the Organic Robot Control Architecture ORCA to the Six-Legged Walking Robot OSCAR. In C. Müller-Schloer, H. Schmeck, & T. Ungerer (Eds.), Organic Computing --- A Paradigm Shift for Complex Systems (pp. 517-530). ( Autonomic Systems; Vol. 1). Springer Basel. https://doi.org/10.1007/978-3-0348-0130-0_34

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abstract = "Walking robots are complex machines, which are challenging to engineer and to program. In order to master this complexity, in this article Organic Computing (OC) principles in terms of self-organisation, self-reconfiguration and self-healing are applied to a six-legged walking robot named OSCAR (Organic Self-Configuring and Adapting Robot). The Organic Robot Control Architecture ORCA, developed in the same project, provides the architectural framework. OC principles are employed on all layers of the hierarchical robot control system starting at the reflexive layer with gait generation and reflexes over the reactive behavioural layer up to the deliberative planning layer. Many experimental evaluations with OSCAR have shown that the robot is able to flexibly adapt to internal faults as well as to unforeseen environmental situations and thus continues its mission in the best still possible way.",

author = "Erik Maehle and Werner Brockmann and Bojan Jakimovski and Stephan Krannich and Marek Litza and Raphael Maas and Gro{\ss}pietsch, {Karl Erwin} and {El Sayed Auf}, Adam-Pharaoun and AHMAD AL-HOMSY",

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Maehle, E, Brockmann, W, Jakimovski, B, Krannich, S, Litza, M, Maas, R, Großpietsch, KE, El Sayed Auf, A-P & AL-HOMSY, AHMAD 2011, Application of the Organic Robot Control Architecture ORCA to the Six-Legged Walking Robot OSCAR. in C Müller-Schloer, H Schmeck & T Ungerer (eds), Organic Computing --- A Paradigm Shift for Complex Systems. Autonomic Systems, vol. 1, Springer Basel, Basel, pp. 517-530. https://doi.org/10.1007/978-3-0348-0130-0_34

Application of the Organic Robot Control Architecture ORCA to the Six-Legged Walking Robot OSCAR. / Maehle, Erik; Brockmann, Werner; Jakimovski, Bojan et al.
Organic Computing --- A Paradigm Shift for Complex Systems. ed. / Christian Müller-Schloer; Hartmut Schmeck; Theo Ungerer. Basel: Springer Basel, 2011. p. 517-530 ( Autonomic Systems; Vol. 1).

Research output: Chapters in Books/Reports/Conference Proceedings › Chapter › peer-review

TY - CHAP

T1 - Application of the Organic Robot Control Architecture ORCA to the Six-Legged Walking Robot OSCAR

AU - Maehle, Erik

AU - Brockmann, Werner

AU - Jakimovski, Bojan

AU - Krannich, Stephan

AU - Litza, Marek

AU - Maas, Raphael

AU - Großpietsch, Karl Erwin

AU - El Sayed Auf, Adam-Pharaoun

AU - AL-HOMSY, AHMAD

PY - 2011

Y1 - 2011

N2 - Walking robots are complex machines, which are challenging to engineer and to program. In order to master this complexity, in this article Organic Computing (OC) principles in terms of self-organisation, self-reconfiguration and self-healing are applied to a six-legged walking robot named OSCAR (Organic Self-Configuring and Adapting Robot). The Organic Robot Control Architecture ORCA, developed in the same project, provides the architectural framework. OC principles are employed on all layers of the hierarchical robot control system starting at the reflexive layer with gait generation and reflexes over the reactive behavioural layer up to the deliberative planning layer. Many experimental evaluations with OSCAR have shown that the robot is able to flexibly adapt to internal faults as well as to unforeseen environmental situations and thus continues its mission in the best still possible way.

AB - Walking robots are complex machines, which are challenging to engineer and to program. In order to master this complexity, in this article Organic Computing (OC) principles in terms of self-organisation, self-reconfiguration and self-healing are applied to a six-legged walking robot named OSCAR (Organic Self-Configuring and Adapting Robot). The Organic Robot Control Architecture ORCA, developed in the same project, provides the architectural framework. OC principles are employed on all layers of the hierarchical robot control system starting at the reflexive layer with gait generation and reflexes over the reactive behavioural layer up to the deliberative planning layer. Many experimental evaluations with OSCAR have shown that the robot is able to flexibly adapt to internal faults as well as to unforeseen environmental situations and thus continues its mission in the best still possible way.

U2 - 10.1007/978-3-0348-0130-0_34

DO - 10.1007/978-3-0348-0130-0_34

M3 - Chapter

SN - 978-3-0348-0129-4

T3 - Autonomic Systems

SP - 517

EP - 530

BT - Organic Computing --- A Paradigm Shift for Complex Systems

A2 - Müller-Schloer, Christian

A2 - Schmeck, Hartmut

A2 - Ungerer, Theo

PB - Springer Basel

CY - Basel

ER -

Maehle E, Brockmann W, Jakimovski B, Krannich S, Litza M, Maas R et al. Application of the Organic Robot Control Architecture ORCA to the Six-Legged Walking Robot OSCAR. In Müller-Schloer C, Schmeck H, Ungerer T, editors, Organic Computing --- A Paradigm Shift for Complex Systems. Basel: Springer Basel. 2011. p. 517-530. ( Autonomic Systems). doi: 10.1007/978-3-0348-0130-0_34

Application of the Organic Robot Control Architecture ORCA to the Six-Legged Walking Robot OSCAR

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