Robot behavior control system, behavior control method, and robot device
First Claim
1. A behavior control system for a robot that operates autonomously, comprising:
- a plurality of behavior description sections for describing motions of a machine body of said robot;
an external environment recognition section for recognizing an external environment of said machine body;
an internal state management section for managing an internal state of said robot in response to the recognized external environment and/or a result of execution of a behavior; and
a behavior evaluation section for evaluating execution of behaviors described in said behavior description sections in response to the external environment and/or the internal state.
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Abstract
A situated behavior layer is formed from a tree structure of schemas, and a parent schema calls a Monitor function of a child schema using an external stimulus and an internal state as arguments whereas the child schema returns an AL value as a return value. The child schema calls a Monitor function of its child schema in order to calculate an AL value of the child schema itself. AL values from sub trees are returned to a root schema, and evaluation of behaviors and execution of a behavior are performed concurrently. Further, emotions are divided into a plurality of layers depending upon the significance of presence thereof, and it is determined which one of a plurality of such determined motions should be selectively performed depending upon an external environment and an internal state at the time. While a behavior is selected in each of the layers, such behavior is developed preferentially beginning with that of a comparatively low layer so that an instinctive behavior such as reflex and a higher order behavior such as selection of a motion by use of memory can be developed without a contradiction on a single individual.
89 Citations
49 Claims
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1. A behavior control system for a robot that operates autonomously, comprising:
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a plurality of behavior description sections for describing motions of a machine body of said robot;
an external environment recognition section for recognizing an external environment of said machine body;
an internal state management section for managing an internal state of said robot in response to the recognized external environment and/or a result of execution of a behavior; and
a behavior evaluation section for evaluating execution of behaviors described in said behavior description sections in response to the external environment and/or the internal state. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A behavior control system for a robot that operates autonomously, comprising:
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one or more behavior modules each including a state machine which describes a motion of a machine body of said robot and a behavior evaluator for evaluating an activity level of a current machine body motion state of said state machine and a machine body resource to be used upon starting of the machine body motion state; and
a behavior state control section for issuing an instruction to calculate an activity level and a use resource to said behavior evaluator of each of said behavior modules, selecting one of said behavior modules to be activated in response to the activity levels and the use resources of said behavior modules and issuing an instruction to said state machine of the selected behavior module to execute the state machine thereby to control behavior states of said behavior modules. - View Dependent Claims (11, 12, 13, 14)
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15. A behavior control system for a robot that operates autonomously, comprising:
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one or more behavior modules each formed from a combination of a command for causing said robot to move and a behavior evaluator for evaluating a resource of a machine body of said robot necessary to execute the command;
means for detecting a machine body resource or resources in a released state; and
means for selectively activating those of said behavior modules which can be executed with the released machine body resources in accordance with a predetermined priority order;
two or more ones of said behavior modules with which conflict of a resource does not occur being capable of being executed concurrently.
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16. A behavior control system for a robot that operates autonomously in response to an internal state thereof, comprising:
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an internal state management section for managing emotions each of which is an index to the internal state in a hierarchical structure having a plurality of layers; and
a behavior selection section for selectively executing a behavior for satisfying one of the emotions in each of said layers. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25)
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26. A behavior control method for a robot which operates autonomously, a plurality of behavior description modules which describe motions of a machine body of said robot being prepared, said behavior control method comprising:
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an external environment recognition step of recognizing an external environment of said machine body;
an internal state management step of managing an internal state of said robot in response to the recognized external environment and/or a result of execution of a behavior; and
a behavior evaluation step of evaluating execution of behaviors described in said behavior description modules in response to the external environment and/or the internal state. - View Dependent Claims (27, 28, 29, 30, 31, 32, 33, 34)
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35. A behavior control method for a robot that operates autonomously in response to an internal state thereof, comprising:
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an internal state management step of managing emotions each of which is an index to the internal state in a hierarchical structure having a plurality of layers; and
a behavior selection step of selectively executing a behavior for satisfying one of the emotions in each of said layers. - View Dependent Claims (36, 37, 38, 39, 40, 41, 42, 43, 44)
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45. A robot apparatus that generates a motion based on an internal input or an external input, comprising:
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one or more behavior modules for determining a behavior of said robot;
behavior module management means for managing said behavior modules;
state storage means for storing current states of said behavior modules; and
one or more state machines corresponding to the states stored in said state storage means for outputting a behavior instruction based on an external or internal input;
said behavior module management means managing said behavior modules such that, when outputting of a behavior instruction from any of said state machines is stopped and behavior outputting is to be resumed thereafter, said behavior module management means causes the state machine to resume the behavior outputting after said behavior module management means causes said robot to execute a predetermined behavior based on the states stored in said state storage means. - View Dependent Claims (46)
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47. A robot apparatus that operates autonomously, comprising:
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a behavior module including means for discriminating a situation based on an external stimulus and an internal environment to calculate an activity level and means for outputting a behavior in response to an input and a state based on a predetermined state machine; and
state setting means for setting a state of said behavior module. - View Dependent Claims (48, 49)
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Specification