ORCA: An Organic Robot Control Architecture

Brockmann, Werner; Maehle, Erik; Grosspietsch, Karl-Erwin; Rosemann, Nils; Jakimovski, Bojan

doi:10.1007/978-3-0348-0130-0_25

Cited by 9 publications

(3 citation statements)

References 7 publications

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“…ORCA [ 137 , 138 ] integrates various hardware and software approaches to maintain system control, safety, and efficiency, even in unexpected scenarios such as faults or changing environments.…”

Section: Robot Control Architecturesmentioning

confidence: 99%

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

Prados,

Hernando,

Gambao

et al. 2024

Biomimetics

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Robotic control is a fundamental part of autonomous robots. Modular legged and climbing robots are complex machines made up of a variety of subsystems, ranging from a single robot with simple legs to a complex system composed of multiple legs (or modules) with computing power and sensitivity. Their complexity, which is increased by the fact of needing elements for climbing, makes a correct structure crucial to achieve a complete, robust, and versatile system during its operation. Control architectures for legged robots are distinguished from other software architectures because of the special needs of these systems. In this paper, we present an original classification of modular legged and climbing robots, a comprehensive review of the most important control architectures in robotics, focusing on the control of modular legged and climbing robots, and a comparison of their features. The control architecture comparison aims to provide the analytical tools necessary to make informed decisions tailored to the specific needs of your robotic applications. This article includes a review and classification of modular legged and climbing robots, breaking down each category separately.

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Section: Robot Control Architecturesmentioning

confidence: 99%

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

Prados,

Hernando,

Gambao

et al. 2024

Biomimetics

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“…ORCA is a modular, hierarchical architecture, based on the RCA-architecture [4], which is conductive to the emergence of self-x properties in a robot system [6]. ORCA distinguishes between three main components.…”

Section: Organic Robot Control Architecture (Orca)mentioning

confidence: 99%

Self-reconfigurable control architecture for complex mobile robots

Frost

Stechele

Maehle

2015

It - Information Technology

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Advanced mobile robot systems need to accomplish increasingly complex task sets. However, to solve demanding problems, they are typically optimized to a very restricted set of tasks and environments. This work will therefore propose a self-reconfigurable software and hardware architecture to allow the dynamic optimization of a robot system depending on the current situation, i. e. the current task, the robot inner state, and the environment. The proposed framework is based on organic computing principles and unsupervised machine learning techniques. It further uses dynamically reconfigurable Field Programmable Gate Arrays (FPGA) as hardware accelerators. Preliminary results will be presented, which demonstrate the feasibility of the self-reconfiguration approach.

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“…The ORCA-architecture [12] reflects this gradual nature of an uncertainty measure similar to pain levels by introducing health signals regarding the health status not only of the sensors but also of potentially any processing module. Here the normal signal flow is defined in basic control units (BCUs) providing the functionality of the system in a faultfree case.…”

Section: Uncertainty Treatment At Architectural Levelmentioning

confidence: 99%

Robustification of Self-Optimising Systems via Explicit Treatment of Uncertain Information

Schoenke

Brockmann

2015

Proceedings of the 2015 Conference of the International Fuzzy Systems Association and the European Society for Fuzzy Logic and

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Uncertainty treatment in self-optimising systems touches two design-issues. Firstly, a valid estimation of uncertainties within the system is impossible beforehand as the uncertainties as well as the systems behaviour changes during run-time due to self-optimisation. Secondly, the design of a selfoptimising system needs to mediate between the often conflicting goals of optimality and robustness. Here we present the concept for a lightweight algorithmic add-on for self-optimising function approximators that enables to reflect uncertainties related to the current state and to flexibly combine optimality and robustness in one design. Illustrating examples of TS-fuzzy systems highlight the properties of our approach.

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ORCA: An Organic Robot Control Architecture

Cited by 9 publications

References 7 publications

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

Self-reconfigurable control architecture for complex mobile robots

Robustification of Self-Optimising Systems via Explicit Treatment of Uncertain Information

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