| 装配机器人SAROT结构反射行为的实现 |
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| 引用本文： | 赵雁南,贾培发.装配机器人SAROT结构反射行为的实现[J].清华大学学报(自然科学版),1997(3). |
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| 作者姓名： | 赵雁南 贾培发 |
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| 作者单位： | 清华大学计算机科学与技术系(赵雁南)，智能技术与系统国家重点实验室(贾培发) |
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| 基金项目： | 国家“八六三”高技术项目 |
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| 摘 要： | 介绍了一种新的智能装配机器人体系结构——ＳＡＲＯＴ（ＳｍａｒｔＡｓｓｅｍｂｌｙＲｏｂｏｔ）结构，这种结构将按照功能的分层递阶方法和按照行为的分层方法结合起来，克服了单纯基于分层递阶结构实时性差和单纯基于反射的行为分层结构功能简单的局限。介绍了支持行为反射的基本元素—行为单元的组成以及它的两个典型实例
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| 关 键 词： | 智能机器人 分层递阶 行为反射 行为单元 |
Implementation of the reflection behavior of SAROT architecture in the assembly robot |
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| Zhao Yannan,Jia Peifa,Wang Jiaxin.Implementation of the reflection behavior of SAROT architecture in the assembly robot[J].Journal of Tsinghua University(Science and Technology),1997(3). |
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| Authors: | Zhao Yannan Jia Peifa Wang Jiaxin |
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| Institution: | Zhao Yannan,Jia Peifa,Wang Jiaxin Department of Computer Science and Technology,Tsinghua University, State Key Laboratory of Intelligent Technology and Systems,Beijing 100084 |
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| Abstract: | This paper presents a new assembly robotic system architecture. This architecture combines the function based hierarchical method with the behavior based hierarchical method. It avoids the poor real time performance of the full hierarchical successive control and the function's simplicity of the full reflecting architecture. In addition, the construction of the basic behavior element supporting the behavior reflection is explained in detail and two typical examples are introduced. |
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| Keywords: | intelligent robot hierarchical succession behavior reflection behavior element |
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