Accession Number : ADA193632

Title :   Herbert: A Second Generation Mobile Robot.

Descriptive Note : Memorandum rept.,

Corporate Author : MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB

Personal Author(s) : Brooks, Rodney ; Connell, Jonathan H ; Ning, Peter

PDF Url : ADA193632

Report Date : Jan 1988

Pagination or Media Count : 13

Abstract : In mobile robot research the authors believe the structure of the platform, its capabilities, the choice of sensors, their capabilities, and the choice of processors, both onboard and offboard, greatly constrains the direction of research activity centered on the platform. The authors examine the design and tradeoffs in a low cost mobile platform they have built while paying careful attention to issues of sensing, manipulation, onboard processing and debuggability of the total system. The robot, named Herbert, is a completely autonomous mobile robot with an onboard parallel processor and special hardware support for the subsumption architecture Brooks (1986), an onboard manipulator and a laser range scanner. All processors are simple low speed 8-bit micro-processors. The robot is capable of real time three dimensional vision, while simultaneously carrying out manipulator and navigation tasks.

Descriptors :   *DETECTORS, *MANIPULATORS, *NAVIGATION, *PARALLEL PROCESSORS, *ROBOTS, LASERS, LOW COSTS, MOBILE, ONBOARD, PLATFORMS, PROCESSING, RANGE(DISTANCE), SCANNERS, TRADE OFF ANALYSIS

Subject Categories : Cybernetics
      Land and Riverine Navigation and Guidance
      Computer Hardware

Distribution Statement : APPROVED FOR PUBLIC RELEASE