Fig. 14

Parallel execution of reach cognitive cores of subsystems. The cognitive cores were trained on each system individually and are samples of the same cognitive cores shown in Fig. 12. Left: The red lines show the end effector motion of each system in isolation, the magenta line the expected motion of the arm end effector of the combined system under the assumption that each subsystem behaves as in isolation. The red ball marks the requested target for the combined motion at (x,y,z)=(1,2,0.5) m, outside of the task space of the arm alone, which has a length of ≈ 0.4 m. The actual motion of the base and the arm of the combined system is shown by the blue lines. Right: Same as left, but for a different target position (x,y,z)=(1.2,1.7,0.5) m and different samples from the cognitive cores for each subsystem, in which the dynamics of the subsystems lead to a non-negligible interaction