Reflex Control For An Intelligent Robotic System

摘要

Design and implementation of a reflex con- troller for a robotic aid system called ISAC (Intelli- gent Soft Arm Control system) based on the frame- work of a layered control architecture is described. In particular, the implementation of a collision avoid- ance strategy is analyzed, and an analogy with the human reaction is presented along with a mathemati- cal interpretation. Finally, a task-dependent reflex ac- tion strategy is introduced to handle the cases where not enough information is available on the potentially harmful situation endangering the user.