【摘要】 在研究多智能体技术基础上 ,提出了一种基于分布式黑板和多智能体系统的类人智能机器人控制系统体系结构 ,并根据系统要求规划出具有不同功能的多个智能体 .系统地分析了该控制系统中各个智能体的功能特点以及它们之间的协作关系 .以运动控制接口的编制为例 ,介绍了CORBA技术在实现该软件系统中的方法 .轴孔装配作业实验结果表明 ,本文提出的体系结构是可行的 ,采用CORBA技术和多智能体技术能有效地实现预定的装配任务更多还原

【Abstract】 This paper presents a distributed architecture to model control system for a humanoid robot, which is based on a multi agent system and a distributed blackboard system. Agents with different functions are designed according to the requirements of the control system. The functions of agents and agent to agent collaborations are also discussed. A motion control programming interface is given as an example to show how to realize the software under CORBA environment. The peg in hole assembly experiment shows that the proposed architecture is practicable and the given assembly tasks can be efficiently finished by applying CORBA and multi agent technology.更多还原