Real Time Dynamic Languages

Abstract : A behavioral programming approach to adaptive autonomous control had been completed. An advanced hexapedal crab-like robot, Ariel, was built in order to investigate methods of robotic self-adaption. As a result of this program, Ariel is able to negotiate the harsh surfzone using fully autonomous distributed gait control. Advancements include the implementation of a high-level controller that recognizes impending unstable etrajectories in the phase space of the gait, and adapts accordingly. Separately, a primate-like head was developed for multi-layer visual control of bipedal and quadrapedal robot navigation. The software architecture incorporates cognitive motivations, selective attention, and a suite of reflexive visual routines. the real-time adaptive software architecture developed under this effort is generically applicable to and DoD embedded real-time system.