Tham khảo tài liệu 'mobile robots book 2011 part 6', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 116 Mobile Robots - State of the Art in Land Sea Air and Collaborative Missions Body with Massive Network of Sensors A human being s body is not only agile in performing motions but also sensible in capturing visual auditory kinesthetic olfactory taste and thermal signals. Most importantly a human being s body is a massive network of sensors. Such a massive sensing capability helps simplify the complexity of decison-making in undertaking appropriate actions in response to sensed signals. Due to cost today it is still difficult to develop a humanoid robot which is as sensible as a human beings. Behavioral Control A human being can perform a wide range of manipulation tasks through the execution of motions by his her arms and hands. Hence it is clear that the motions at the joints of hands and arms are dictated by an intended task. In industrial robotics it is well-understood that the inputs to the motion control loops at the joint level come from a decision-making process started with an intended task of manipulation. And such a decision-making process includes Behavior selection among the generic behaviors of manipulation as shown in Figure 12 a . Action selection among the generic actions of manipulation as shown in Figure 12 b . Motion description for a selected action. Fig. 12. Generic behaviours and actions for manipulation. On the other hand in the effort toward the design of planning and control algorithms for biped walking not enough attention has been paid to this top-down approach of behavioral control. For instance a lot of works is focused on the use of ZMP . zero-moment point to generate or control dynamically stable gaits. Such stability-centric approaches do not answer the fundamental question of how to walk along any intended trajectory in real-time and in real environment. Because of the confusion on the relationship between cause and Biologically-Inspired Design of Humanoids 117 effect one can hardly find a definite answer to the .