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JRM Vol.10 No.5 pp. 400-406
doi: 10.20965/jrm.1998.p0400
(1998)

Paper:

Multilegged Vehicle Using Multireactive Agent

Kensuke Takita, Hiroshi Yokoi and Yukinori Kakazu

Institute of Systems and Information Engineering, Hokkaido University, Sapporo 060-8628, Japan

Received:
March 28, 1998
Accepted:
August 6, 1998
Published:
October 20, 1998
Keywords:
Robot, Subsumption architecture, Gait
Abstract

Constructing walking robots is attractive but poses many inevitable problems. Solutions often involve behaviorbased approaches. Subsumption architecture (SSA)is an example effective in responsibility, adaptability, and robustness in contrast to knowledge-based SMPA architecture. Often, in SSA studies, robots are constructed centralized, sacrificing recoverability; SSA also has no learning. We propose a distributed hierarchy based on SSA by building a hierarchically distributed robot, in which each agent is build of SSA and having robust failure recovery. We study the validity of the proposed approach.

Cite this article as:
Kensuke Takita, Hiroshi Yokoi, and Yukinori Kakazu, “Multilegged Vehicle Using Multireactive Agent,” J. Robot. Mechatron., Vol.10, No.5, pp. 400-406, 1998.
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