Multilevel multisensor based decision fusion for intelligent animal robot

The paper develops multilevel, multisensor based decision fusion principles for the intelligent animal robot. This paper presents the design and implementation of a four-legged animal robot. The animal robot's head, body, and legs were constructed using aluminum material. The control/decision unit, driver unit and sensory unit were designed for the control of the animal robot. In addition, we use hierarchical organized control hardware and the multilevel multisensor based fusion techniques to obtain the fused decision. Weight function and rule based algorithms are employed to fuse and integrate the multisensor data. Preliminary experimental results indicate that the proposed methods can effectively fuse decision for the animal robot.