An Experimental Autonomous Articulated Robot that can Learn

  • Ahmed S. Mohamed
  • William W. Armstrong
Conference paper


An important feature of any intelligent autonomous robot is the capability of acquiring knowledge about its environment and learning from its previous experiences. Long response times for reasoning and decision-making have to be avoided. Consequently the process of knowledge acquisition as well as the type of internal knowledge representation have to be designed very carefully with respect to processing time and performance requirements. This paper proposes a multi-legged autonomous articulated robot that maintains nested hierarchical production rules capable of embodying learned knowledge and enabling control using a knowledge-based control system. The proposed robot merges methodologies taken from computer numerical control (mathematical methods in robotics, and biomechanics) with methodologies taken from motor learning (knowledge-based processing as studied in artificial intelligence and behavioural psychology). Both methodologies act together to provide a control system that functions somewhat like human procedures for perception, planning and motion execution. The robot’s actions and most internal operations of its acquisition, planning and decision making are monitored through a color graphics simulation.


Motor Learning Computer Numerical Control Learning Controller Small Obstacle Numerical Controller 
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

© Springer-Verlag Berlin, Heidelberg 1989

Authors and Affiliations

  • Ahmed S. Mohamed
    • 1
  • William W. Armstrong
    • 1
  1. 1.Department of Computing ScienceThe University of AlbertaAlbertaCanada

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