Multilegged Vehicle Using Multireactive Agent

Constructing walking robots is attractive but poses many inevitable problems. Solutions often involve behaviorbased approaches. Subsumption architecture (SSA)is an example effective in responsibility, adaptability, and robustness in contrast to knowledge-based SMPA architecture. Often, in SSA studies, robots are constructed centralized, sacrificing recoverability; SSA also has no learning. We propose a distributed hierarchy based on SSA by building a hierarchically distributed robot, in which each agent is build of SSA and having robust failure recovery. We study the validity of the proposed approach.