Frame of Reference

"Complicated" means that a robot has various sensors and a number of degrees of freedom. If a designer has an excellent ability to guess the constraint for the robot, he/she may be able to program the robot by hand. But, once he/she miss a constraint, the robot cannot deal with it anymore. In this sence, the robot should have an ability to assign the sensors and actuators automatically to the given task and environment. I am interested in building a control architecture to realize such an ability.

Once we can get such a control architecture, expected results are:

• The robot can adapt to changes of the environment, and can even behave appropriately in an unknown environment.
• The designer do not have to think deeply on the situations that the robot likely to meet.
• By assigning the degrees automatically, the robot can deal with malfuntion of several joints/sensors.