%0 Journal Article
%T Decomposability Theory of Intelligent Robot Architecture<br>智能机器人体系结构可分解性理论研究
%A LIU Hai-Bo
%A GU Guo
%A Chang SHEN Jing
%A <br>刘海波
%A 顾国昌
%A 沈晶
%J 计算机科学
%D 2006
%I 
%X During the previous works on intelligent robot architectures, the researchers experientially decomposed the functional modules and established their relations according to the requirements. With the increased complexity in robot systems and the coupling relations among modules, the decomposability of architecture has been becoming a more and more challenge problem that hardly has been lucubrated. In this paper, a decomposability theorem is presented and proved by differentiable manifolds theories. The theorem lays a theoretical foundation for hierarchical and modular im- plementation of the complex robot architectures.
%K Intelligent robot
%K Arehiteeture
%K Decomposability
%K Differentiable manifold<br>智能机器人
%K 体系结构
%K 可分解性
%K 微分流形
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=64A12D73428C8B8DBFB978D04DFEB3C1&aid=341E880FE061872A&yid=37904DC365DD7266&vid=27746BCEEE58E9DC&iid=E158A972A605785F&sid=475189FCB44F11F6&eid=3986B25773CB6C30&journal_id=1002-137X&journal_name=计算机科学&referenced_num=2&reference_num=4