| 摘要 |
A method of controlling a robot includes running multiple applications (130) on at least one processor, where each application (130) has a robot controller (140) and an action selection engine (200). Each application (130) is in communication with at least one behavior (300) and at least one action model (400) of at least part of the robot. The method includes running periodic action selection cycles (210) on each action selection engine (200). Each action selection cycle (210) includes selecting a command (440) for each action space (410) of each action mode! (440), generating a single overall command (442) based on the accumulated commands (440) for each action model (400), and sending the overall command (442) to the robot controller (140) for execution on the robot. |
