Task Planning of Six Legged Locomotion Robot Using NN and EP

Abstract

There are many researches about planning problems on robot behaviors. Task planning problem is known as one of these problems. Main researches are planning a procedure of actions and it is difficult to combine some actions into a new action. In this point of view, we researched planning problem. In this paper, we introduce parameterized behavior and show the architecture using the behavior. We use the proposed method for six legged locomotion robot. This robot has walking mechanism and vertically articulated manipulator. We give this robot a task and confirm validity of this architecture with simulation by computer.