Abstract
A new modularized robot control system, called the Robot Module System (RMS), is proposed in this thesis. RMS is composed of individual Robot Modules and the Main Module. The Main Module controls all of the Robot Modules and generates action plans of the entire robot. A Robot Module represents an identifiable unit of a robot, such as the pair of legs or head, that can be activated independent of other units. As such, each Robot Module can be regarded as an independent individual robot. The behavior of the whole robot is defined as the cooperation of the Robot Modules.
