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JRM Vol.4 No.5 pp. 437-444
doi: 10.20965/jrm.1992.p0437
(1992)

Paper:

PEM-Modelling: A Framework for Designing Intelligent Robot Control

T. Heikkilä*, J. Röning**

* Technical Research Centre of Finland (VTT), Electronics Laboratory, P.O.Box.200, SF-90571 OULU, FINLAND

**University of Oulu, Department of Electrical Engineering, SF-90570 OULU, FINLAND

Received:
August 11,1992
Accepted:
September 12, 1992
Published:
October 20, 1992
Abstract

A framework for functional design of intelligent robot control is proposed. It consists of a hierarchical logical model with motion and manipulation task decomposition, sensor processing and modelling sub-structures. Each computational module, both related to task decomposition and sensor processing, is proposed to consist of modules, each of which having three generic activities: planning, executing and monitoring. Planning encompasses task decomposition activities, executing activates a mechanism to carry out the plan and monitoring observes the validity of the plan in relation to real situations. The time dependencies of planning, executing and monitoring are described with a meta-control mechanism, for which examples are introduced. The importance within the different meta-control schemes is, that they result in different different overall behavior, particularly in erroneous or unexpected situations. The framework has been verified through a practical prototype.

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Last updated on Nov. 20, 2017