A Real-Time Hybrid Architecture for Biped Humanoids with Active Vision Mechanisms

@article{Testart2011ARH,
  title={A Real-Time Hybrid Architecture for Biped Humanoids with Active Vision Mechanisms},
  author={Javier Testart and Javier Ruiz-del-Solar and Rodrigo Schulz and Pablo Guerrero and Rodrigo Palma Amestoy},
  journal={Journal of Intelligent \& Robotic Systems},
  year={2011},
  volume={63},
  pages={233-255}
}
A real-time hybrid control architecture for biped humanoid robots is proposed. The architecture is modular and hierarchical. The main robot’s functionalities are organized in four parallel modules: perception, actuation, world-modeling, and hybrid control. Hybrid control is divided in three behavior-based hierarchical layers: the planning layer, the deliberative layer, and the reactive layer, which work in parallel and have very different response speeds and planning capabilities. The… 
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