Cyber-Physical Control System of Hardware-Software Complex of Anthropomorphous Robot: Architecture and Models

Autonomous anthropomorphous robots represent complicated hardware-software complexes designed to functioning in a changing external environment. Additional features of any particular robot are defined by its scope. Educational activity imposes tight restrictions to ensure safe work and study environment at an institution. It is required to solve many different tasks in a real-time mode. The efficiency of their solutions is defined by availability of computing resources, as well as by thorough organization of the hardware-software complex oriented toward a specialized class of the autonomous robotics tasks. With this goal in mind, we analyzed the complex of the tasks for the teaching assistant robot. Among those, one of the most important was the task of obtaining information about the environment. We analyzed the task of a trainee status examination and possible ways of its solution, and offered the architecture of a hardware-software complex of the anthropomorphous robot assistant. The set-theoretic model of a hardware-software complex was constructed. Its use would further allow defining an optimum configuration of the offered hardware-software complex architecture for anthropomorphous robots. The distributed computing system of a hardware-software complex for anthropomorphous robot assistant facilitated parallel solving of the tasks related to situation analysis, as well as planning and control of the robot operations.