Robot apparatus and control method thereof
First Claim
1. A robot apparatus that operates in accordance with input information, comprising:
- a plurality of recognition means for recognizing external environment;
target detecting means for detecting a target of perception by integrating recognition results from the plurality of recognition means for each target of perception, based on temporal and/or spatial relationship;
a target memory for storing each target detected by the target detecting means; and
behavior determining means for determining behavior of the robot apparatus based on each target stored in the target memory.
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Abstract
A robot apparatus integrates individual recognition results received asynchronously and then passes the integrated information to a behavior module. Thus, handling of information in the behavior module is facilitated. Since information regarding recognized observation results is held as a memory, even if observation results are temporarily missing, it appears to an upper module that items are constantly there in perception. Accordingly, insusceptibility against recognizer errors and sensor noise is improved, so that a stable system that is not dependent on timing of notifications by recognizers is implemented. Thus, the robot apparatus integrates a plurality of recognition results from external environment and handles the integrated information as meaningful symbol information, allowing sophisticated behavior control.
81 Citations
16 Claims
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1. A robot apparatus that operates in accordance with input information, comprising:
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a plurality of recognition means for recognizing external environment;
target detecting means for detecting a target of perception by integrating recognition results from the plurality of recognition means for each target of perception, based on temporal and/or spatial relationship;
a target memory for storing each target detected by the target detecting means; and
behavior determining means for determining behavior of the robot apparatus based on each target stored in the target memory. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of controlling a robot apparatus that operates in accordance with input information, the method comprising:
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a plurality of recognition steps of recognizing external environment;
a target detecting step of detecting a target of perception by integrating recognition results in the plurality of recognition steps for each target of perception, based on temporal and/or spatial relationship;
a target storing step of storing each target detected in the target detecting step; and
a behavior determining step of determining behavior of the robot apparatus based on each target stored in the target storing step. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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Specification