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介绍了一种新的智能装配机器人体系结构——ＳＡＲＯＴ（ＳｍａｒｔＡｓｓｅｍｂｌｙＲｏｂｏｔ）结构，这种结构将按照功能的分层递阶方法和按照行为的分层方法结合起来，克服了单纯基于分层递阶结构实时性差和单纯基于反射的行为分层结构功能简单的局限。介绍了支持行为反射的基本元素—行为单元的组成以及它的两个典型实例
A new intelligent assembly robot architecture (SATO) is introduced, which combines the hierarchical approach of function and the hierarchical approach of behavior to overcome the simple structure based on hierarchical hierarchical structure The poor real-time performance and the simplicity of reflection-based behavioral hierarchy. The basic elements that support behavioral reflexes are introduced - the composition of the behavioral unit and its two typical examples