Tracking and grasping of moving objects — a behaviour-based approach —
Behaviour-based robotics (cf. Brooks ) has mainly been applied to the domain of autonomous systems and mobile robots. In this paper we show how this approach to robot programming can be used to design a flexible and robust controller for a five degrees of freedom (DOF) robot arm. The implementation of the robot controller to be presented features the sensor and motor patterns necessary to tackle a problem we consider to be hard to solve for traditional controllers. These sensor and motor patterns are linked together forming various behaviours. The global control structure based on Brooks' subsumption architecture will be outlined. It coordinates the individual behaviours into goal-directed behaviour of the robot without the necessity to program this emerging global behaviour explicitly and in advance. To conclude, some shortcomings of the current implementation are discussed and future work, especially in the field of reinforcement learning of individual behaviours, is sketched.
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