BiBiars - A Robotic System for Realising Cooperative Behaviours of Multiple Sensor and Actuator Agents
Jia-Hui Zhang, Alois Knoll · 1995
Introduction In the Technical Computer Science research group of the Faculty of Technology of University of Bielefeld, a two-arm robotic system BiBiars (Bielefeld Biarm System) is being developed. The general goal of this system is to model and realise human sensorimotor skills for performing manipulation and assembly tasks. This requires a comprehensive set of actuators and sensors, which perform functions similar to those of the human arms, hands and perception channels (i.e. vision, touch, acoustics). To organise the interaction of the complex sensor and control subsystems, sensor data cannot be acquired and processed independently of the movements of the actuators. It is mandatory that both be performed simultaneously and in view of the task to be performed the actuators will work on. This is the reason, therefore, that the three major components of an intelligent robot system, i.e. perception, planning and control, are considered synergetically instead of