Accession Number:

ADA399584

Title:

Real Time Dynamic Languages

Descriptive Note:

Final rept. Aug 1996-Dec 2000

Corporate Author:

IROBOT CORP SOMMERVILLE MA

Report Date:

2001-11-01

Pagination or Media Count:

49.0

Abstract:

A behavioral programming approach to adaptive autonomous control had been completed. An advanced hexapedal crab-like robot, Ariel, was built in order to investigate methods of robotic self-adaption. As a result of this program, Ariel is able to negotiate the harsh surfzone using fully autonomous distributed gait control. Advancements include the implementation of a high-level controller that recognizes impending unstable etrajectories in the phase space of the gait, and adapts accordingly. Separately, a primate-like head was developed for multi-layer visual control of bipedal and quadrapedal robot navigation. The software architecture incorporates cognitive motivations, selective attention, and a suite of reflexive visual routines. the real-time adaptive software architecture developed under this effort is generically applicable to and DoD embedded real-time system.

Subject Categories:

  • Computer Hardware
  • Cybernetics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE