SEAN System of a Biped Robot Based on Stacked Modulation Architecture

Abstract

A new control architecture for real-world-oriented robots is presented. Unlike the subsumption architecture, the upper-layer functions modulate the lower-layers rather than overriding their outputs, and utilize them to adapt the system to situations. A simlutaneous exploration and navigation (SEAN) for a biped robot is implemented based on the architecture and evaluated on a computer simulation.