This paper describes how fuzzy control can be applied to sonar based obstacle avoidance of HelpMate mobile robot. Behavior-based fuzzy control for HelpXlate mobile robot was designed. The design and implementation of fuzzy control system is described. The fuzzy controller provides the mechanism for solving sens(,r data fi'om all sonar sensors which present differ-<,.t infl)rmation. Behavior-based approach is implem(~ut(>([ ab all individual high priority behavior. Usint4 I)(~havior-based solves architecture of behavior selection problem. The highest level behavior is called task-oriented behavior, which consists of two subtasks, wall t'ollowing and goal following. The lower level is t)bstacle avoidance behavior. The lowest is an emerg('n('y behavior. Visual Basic 6 code was developed for implementation. The fuzzy inference system was crear(-,d. Helpmate obstacle avoidance was implemented. The result shown that each behavior is work correctly. The HelpMate robot can avoid all obstacles that are det(-,cted by sonar sensors.

This paper describes our efforts to develop a robot with robust sensorimotor intelligence using a multiagent-based robot control architecture and a biologically inspired intelligent control. Such control is called cognitive control. In this paper we will discuss the application of cognitive control to a humanoid robot. Features of cognitive control addressed include short-term memory for environmental learning, long-term memory for behavior learning and task execution using working memory and TD learning.

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|W e argue that intelligence is necessary in robots used for rehabilitation in order to reduce the amount o f mental activity needed by the user of these robots. With this in mind, the areas of research relevant to imparting robotic systems with the capability of assuming a more intelligent role are identi ed. We describe our implementation of functionalities such as fuzzy command interpretation, object recognition, face tracking, and task planning and learning, which are part of the ISAC, an intelligent system designed to feed individuals with physical disabilities.