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RoManSy 6 pp 405-411 | Cite as

Towards Generalized Concepts and Tools for Unconventional Mobile Robots General Languages, Mobility Modes

  • J.-J. Kessis
  • J. Penne
  • J.-P. Rambaut
  • N. Mattar

Summary

Unconventional, i.e. non-wheeled, mobile robots (UMR), e.g. walkers, reptile, submarine, were seen until recently as pure research subjects. Now in several fields, such as maintenance, exploration, intervention, in hard or hostile environments, they, including advanced robots, i.e. fully autonomous ones, are in demand.

In previous RoManSys, we described general architecture (R’81) and intelligent systems (R’84) as developed in our laboratory for walking robots. This paper describes computer science applications for system and languages for mobile robots.

After our experiments on two walking prototypes (H1, H2) we found it useful to develop two levels of dedicated languages: first an assembly-level one (LRA: LP 4.5), producing an object code interpreted by the robot as its own machine language; second, a high-level language (LRE: MULTICIBLE) which compiles into LRA or other microprocessor code. The pair LRE/LRA allows easy programming of adaptive autonomous behaviour. On the ocher hand, intelligent planning generates LRA directly.

The generalization of various mobile, robots, including UMRs, is currently in development. The main concept is mobility mode, an extension of the gait concept. A declarative part of the future mobile robot language (MRL) should be the description of the particular MR in use, with its physical properties and performance.

Keywords

Mobile Robot Object Code Mobility Mode Cycle Shape Computer Operating System 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Hermes, Paris 1987

Authors and Affiliations

  • J.-J. Kessis
    • 1
  • J. Penne
    • 1
  • J.-P. Rambaut
    • 1
  • N. Mattar
    • 1
  1. 1.Laboratoire de Robotique et Intelligence ArtificielleUniversité de Paris VIIFrance

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