Robotic Oncological Surgery: Technology That’s Here to Stay?

A robot functioning in an environment may exhibit various forms of behavior emerge from theinteraction with its environment through sense, control and plan activities. Hence, this paper introduces a behaviour selection based navigation and obstacle avoidance algorithm with effective method for adapting roboticbehavior according to the environment conditions and the navigated terrain. The developed algorithm enable therobot to select the suitable behavior in real-time to avoid obstacles based on sensory information through visualand ultrasonic sensors utilizing the robot’s ability to step over obstacles, and move between surfaces of differentheights. In addition, it allows the robot to react in appropriate manner to the changing conditions either by finetuningof behaviors or by selecting different set of behaviors to increase the efficiency of the robot over time. Thepresented approach has been demonstrated on quadruped robot in several different experimental environmentsand the paper provides an analysis of its performance