Behavior-Based Control Architecture for Legged-and-Climber Robots

摘要

In this paper, we present a fully original control architecture for legged-and-climber robots that is level-based, hierarchical, and centralized. The architecture gives the robots the ability to perform self-reconfiguration after unforeseen leg failures, because it can control this kind of robot with different numbers of legs. The results show the capability of performing movements in any direction and inclination planes. The components and functionalities of the developed control architecture for these robots are described, and, the architecture’s performance is tested on the ROMHEX robot.