Servoed World Models as Interfaces Between Robot Control Systems and Sensory Data

Published

December 31, 1984

Author(s)

Ernest Kent, James S. Albus

Abstract

A hierarchical robot sensory system being developed for industrial robotics is described. At each level of the hierarchy, sensory interpretative processes are guided by expectancy-generating modeling processes. The modeling processes are driven by a priori knowledge (object prototypes), by knowledge of the robot's movements (feed-forward from the control system), and by feedback from the interpretative processes (prior state of the sensory world). At the lowest level, the senses (vision, proximity, tactile, force, joint angle, etc.) are handled separately; above this level, they are integrated into a multi-model world model. At successively higher levels, the interpretative and modeling processes describe the world with successively higher order constructs, and over successively longer time periods. Each level of the modeling hierarchy provides output, in parallel, to guide the corresponding levels of a hierarchical robot control system.

Citation

Robotica

Volume

2

Pub Type

Journals

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Local Download

Citation

Kent, E. and Albus, J. (1984), Servoed World Models as Interfaces Between Robot Control Systems and Sensory Data, Robotica, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820202 (Accessed October 11, 2025)