Development of an Organic Computing Architecture for Robot Control

Bojan Jakimovski; Marek Litza; Florian Msch; Adam El Sayed Auf

Development of an Organic Computing Architecture for Robot Control

Bojan Jakimovski, Marek Litza, Florian Msch, Adam El Sayed Auf

Institute of Computer Engineering

Institut für Technische Informatik

Abstract

Motivated by the vision of Organic Computing, a concept is proposed towards building a more robust robot control architecture. An experimental setup is described that allows to develop, implement and test new approaches and their practical realizations on a walking robot demonstrator. These experiments demonstrate that normal walking of the robot can be distinguished from the walking with a defective leg or against an obstacle by observing appropriate sensor signals from the legs. Based on this, the properties of self-adaptation and self-reconfiguration in case of malfunctions of some parts or in case of obstacle avoidance can be realized.

Original language	English
Title of host publication	INFORMATIK 2006 - Informatik für Menschen
Number of pages	8
Volume	1
Publisher	Gesellschaft für Informatik, Bonn
Publication date	01.12.2006
Pages	145-152
ISBN (Print)	978-388579187-4
Publication status	Published - 01.12.2006
Event	INFORMATIK 2006 36th Annual Conference of the German Informatics Society (GI): Informatics for People - Dresden, Germany Duration: 02.10.2006 → 06.10.2006 Conference number: 95686

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This output contributes to the following UN Sustainable Development Goals (SDGs)

Cite this

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title = "Development of an Organic Computing Architecture for Robot Control",

abstract = "Motivated by the vision of Organic Computing, a concept is proposed towards building a more robust robot control architecture. An experimental setup is described that allows to develop, implement and test new approaches and their practical realizations on a walking robot demonstrator. These experiments demonstrate that normal walking of the robot can be distinguished from the walking with a defective leg or against an obstacle by observing appropriate sensor signals from the legs. Based on this, the properties of self-adaptation and self-reconfiguration in case of malfunctions of some parts or in case of obstacle avoidance can be realized.",

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AU - Jakimovski, Bojan

AU - Litza, Marek

AU - Msch, Florian

AU - Auf, Adam El Sayed

N1 - Conference code: 95686

PY - 2006/12/1

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N2 - Motivated by the vision of Organic Computing, a concept is proposed towards building a more robust robot control architecture. An experimental setup is described that allows to develop, implement and test new approaches and their practical realizations on a walking robot demonstrator. These experiments demonstrate that normal walking of the robot can be distinguished from the walking with a defective leg or against an obstacle by observing appropriate sensor signals from the legs. Based on this, the properties of self-adaptation and self-reconfiguration in case of malfunctions of some parts or in case of obstacle avoidance can be realized.

AB - Motivated by the vision of Organic Computing, a concept is proposed towards building a more robust robot control architecture. An experimental setup is described that allows to develop, implement and test new approaches and their practical realizations on a walking robot demonstrator. These experiments demonstrate that normal walking of the robot can be distinguished from the walking with a defective leg or against an obstacle by observing appropriate sensor signals from the legs. Based on this, the properties of self-adaptation and self-reconfiguration in case of malfunctions of some parts or in case of obstacle avoidance can be realized.

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SN - 978-388579187-4

VL - 1

SP - 145

EP - 152

BT - INFORMATIK 2006 - Informatik für Menschen

PB - Gesellschaft für Informatik, Bonn

T2 - INFORMATIK 2006 36th Annual Conference of the German Informatics Society (GI): Informatics for People

Y2 - 2 October 2006 through 6 October 2006

ER -

Development of an Organic Computing Architecture for Robot Control

Abstract

UN SDGs

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