Behaviour-Based Hybrid Locomotion Approach for Walking Robots in Lunar Crater Environments

This talk deals with the question of how to produce and use knowledge to extend the reactive PCR-Approach for the locomotion of walking machines with higher level deleberative behaviours that could enable the robot to move with caution. At first the mission and the environmental conditions in connection with the SpaceClimber project will be described. Afterwards the PCR-Approach will be introduced briefly with a successional discussion of its deficiencies. In the end various types of knowledge will be defined to discuss their producibility and useability for higher level Behaviours.