Robot apparatus, and behavior controlling method for robot apparatus
First Claim
1. A robot apparatus comprising:
- means for recognizing the environment around the robot apparatus;
means for managing an internal status of the robot apparatus according to the recognized environment and/or a behavior of the robot apparatus; and
a plurality of performing means for performing behaviors of the robot apparatus according to the environment and/or internal status, each of the behaviors being performed respectively, wherein the plurality of performing means are constructed by tree-structure according to levels of the behaviors of the robot apparatus, and lower-order ones of the performing means in the tree-structure perform behaviors of the robot apparatus based on behavior information which is set by higher-order ones of the performing means in the tree-structure where the lower-order ones of the performing means are connected.
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Abstract
A robot (1) is provided which includes a situated behaviors layer (SBL) (58). This SBL (58) is formed in the form of a tree structure in which a plurality of schemata (behavior modules) is connected hierarchically in such a matter that the schemata are highly independent of each other for each of them to behave uniquely. A patent schema can define a pattern in which child schemata are connected, such as an OR type pattern in which the child schemata are caused to behave uniquely, AND type pattern in which the plurality of child schemata are caused to behave simultaneously or a SEQUENCE type pattern indicating a sequence in which the plurality of child schemata should behave, thereby permitting to select a behavior pattern of the robot (1). Also, a new child schema can additionally be included in the SBL (58) without having to rewrite the schemata connection in the tree structure, whereby a new behavior or function can be added to the robot (1). Namely, the plurality of behavior modules permits to enable the robot (1) to show a complicated behavior and have units thereof recombined.
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Citations
18 Claims
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1. A robot apparatus comprising:
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means for recognizing the environment around the robot apparatus;
means for managing an internal status of the robot apparatus according to the recognized environment and/or a behavior of the robot apparatus; and
a plurality of performing means for performing behaviors of the robot apparatus according to the environment and/or internal status, each of the behaviors being performed respectively, wherein the plurality of performing means are constructed by tree-structure according to levels of the behaviors of the robot apparatus, and lower-order ones of the performing means in the tree-structure perform behaviors of the robot apparatus based on behavior information which is set by higher-order ones of the performing means in the tree-structure where the lower-order ones of the performing means are connected. - View Dependent Claims (2, 3, 4)
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5. A robot apparatus comprising:
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means for recognizing the environment around the robot apparatus;
means for managing an internal status of the robot apparatus according to the recognized environment and/or a behavior of the robot apparatus; and
a plurality of performing means for performing behaviors of the robot apparatus according to the environment and/or internal status, each of the behaviors being performed respectively, wherein the plurality of performing means are constructed by tree-structure according to levels of the behaviors of the robot apparatus, higher-order ones of the performing means in the tree-structure are able to set a connection pattern of lower-order ones of the performing means in the tree-structure, and the lower-order ones of the performing means perform behaviors according to, the connection pattern. - View Dependent Claims (6, 7, 8, 9)
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10. A behavior controlling method for a robot apparatus, wherein
the method comprising a plurality of performing modules for performing behaviors of the robot apparatus respectively according to recognized environment around the robot apparatus, and/or an internal status of the robot apparatus according to the recognized environment and/or a behavior of the robot apparatus, the plurality of performing modules are constructed by tree-structure according to levels of the behaviors of the robot apparatus, and lower-order ones of the performing modules in the tree-structure perform behaviors of the robot apparatus based on behavior information which is set by higher-order ones of the performing modules in the tree-structure where the lower-order ones of the performing modules are connected.
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14. A behavior controlling method for a robot apparatus, wherein
the method comprising a plurality of performing modules for performing behaviors of the robot apparatus respectively according to recognized environment around the robot apparatus, and/or an internal status of the robot apparatus according to the recognized environment and/or a behavior of the robot apparatus, the plurality of performing modules are constructed by tree-structure according to levels of the behaviors of the robot apparatus, higher-order ones of the performing modules in the tree-structure are able to set a connection pattern of lower-order ones of the performing modules in the tree-structure, and the lower-order ones of the performing modules perform behaviors according to the connection pattern.
Specification