One-Chip Solution to Intelligent Robot Control: Implementing Hexapod Subsumption Architecture Using a Contemporary Microprocessor

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dc.creatorPashenkov, Nikita
dc.creatorIwamasa, Ryuichi
dc.date2004-12-11
dc.date.accessioned2026-07-07T03:22:13Z
dc.date.available2026-07-07T03:22:13Z
dc.descriptionThis paper introduces a six-legged autonomous robot managed by a single controller and a software core modeled on subsumption architecture. We begin by discussing the features and capabilities of IsoPod, a new processor for robotics which has enabled a streamlined implementation of our project. We argue that this processor offers a unique set of hardware and software features, making it a practical development platform for robotics in general and for subsumption-based control architectures in particular. Next, we summarize original ideas on subsumption architecture implementation for a six-legged robot, as presented by its inventor Rodney Brooks in 1980s. A comparison is then made to a more recent example of a hexapod control architecture based on subsumption. The merits of both systems are analyzed and a new subsumption architecture layout is formulated as a response. We conclude with some remarks regarding the development of this project as a hint at new potentials for intelligent robot design, opened by a recent development in embedded controller market.
dc.identifierhttps://arxiv.org/abs/cs/0412056
dc.identifierhttp://arxiv.org/abs/cs/0412056
dc.identifierInternational Journal of Advanced Robotic Systems, Volume 1, Number 2, June 2004, pp. 93-98
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/32507
dc.subjectRobotics
dc.titleOne-Chip Solution to Intelligent Robot Control: Implementing Hexapod Subsumption Architecture Using a Contemporary Microprocessor
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