A multi Agent controller for a mobile arm manipulator

Sébastien Delarue (1) , Philippe Hoppenot (1) , Etienne Colle (1)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

In the assistive robotics domain, and especially for disable people, the use of mobile arm manipulator can be of a great help in the everyday life tasks. First, these systems must be reliable and fault tolerant. Secondly they must facilitate man machine co-operation. This article exposes a method based on multi agent system. This kind of distributed architecture makes possible to be fault-tolerant without any specific fault management, and thus to improve reliability. It is also possible to add specific constraints, for example human like behaviors in order to facilitate the use of the system by the operator. Moreover, this method is easy to implement.

Mots clés: Multi-agent; arm manipulator; mobile platform

Domaines: Robotique [cs.RO]; Automatique; Automatique / Robotique

Sébastien Delarue, Philippe Hoppenot, Etienne Colle. A multi Agent controller for a mobile arm manipulator. ICINCO, May 2007, Angers, France. pp.292--299. ⟨hal-00341301⟩