%0 Journal Article
	%A Yingxin He and  Kyouichi Tatsuno
	%D 2008
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 15, 2008
	%T An Example of Open Robot Controller Architecture - For Power Distribution Line Maintenance Robot System -
	%U https://publications.waset.org/pdf/3468
	%V 15
	%X In this paper, we propose an architecture for easily
constructing a robot controller. The architecture is a multi-agent
system which has eight agents: the Man-machine interface, Task
planner, Task teaching editor, Motion planner, Arm controller,
Vehicle controller, Vision system and CG display. The controller has
three databases: the Task knowledge database, the Robot database and
the Environment database. Based on this controller architecture, we
are constructing an experimental power distribution line maintenance
robot system and are doing the experiment for the maintenance tasks,
for example, “Bolt insertion task".
	%P 274 - 279