Robot device, Behavior control method thereof, and program
First Claim
1. A robot device which autonomously selects and implements an action on the basis of its own internal state and an external stimulus, the robot device comprising:
- a plurality of action-stating modules each having an action stated therein;
an activation level calculating means for calculating the activation level of each of the actions stated in the plurality of action-stating modules from the internal state and external stimulus; and
an action selecting means for selecting one of the action-stating modules on the basis of the calculated activation level and making the action stated in the selected action-stating module, the action stated in each of the action-stating modules being associated with a predetermined internal state and external stimulus; and
the activation level calculating means determining an instinct level for an action associated with the internal state and a satisfaction level based on the internal state, and calculating the activation level for each action on the basis of an instinct level determined from a current internal state and a variation of a predicted satisfaction level determined from an internal state which, it is predicted based on the current internal state and input external stimulus, will vary.
1 Assignment
0 Petitions
Accused Products
Abstract
In a robot device, an action selecting/control system (100) includes a plurality of elementary action modules each of which outputs an action when selected, an activation level calculation unit (120) to calculate an activation level AL of each elementary action on the basis of information from an internal-state manager (91) and external-stimulus recognition unit (80) and with reference to a data base, and an action selector (130) to select an elementary action whose activation level AL is highest as an action to be implemented. Each action is associated with a predetermined internal state and external stimulus. The activation level calculation unit (120) calculates an activation level AL of each action on the basis of a predicted satisfaction0level variation based on the level of an instinct for an action corresponding to an input internal state and a predicted internal-state variation predictable based on an input external stimulus.
77 Citations
11 Claims
-
1. A robot device which autonomously selects and implements an action on the basis of its own internal state and an external stimulus, the robot device comprising:
-
a plurality of action-stating modules each having an action stated therein;
an activation level calculating means for calculating the activation level of each of the actions stated in the plurality of action-stating modules from the internal state and external stimulus; and
an action selecting means for selecting one of the action-stating modules on the basis of the calculated activation level and making the action stated in the selected action-stating module, the action stated in each of the action-stating modules being associated with a predetermined internal state and external stimulus; and
the activation level calculating means determining an instinct level for an action associated with the internal state and a satisfaction level based on the internal state, and calculating the activation level for each action on the basis of an instinct level determined from a current internal state and a variation of a predicted satisfaction level determined from an internal state which, it is predicted based on the current internal state and input external stimulus, will vary. - View Dependent Claims (2, 3, 4, 5)
-
-
6. A robot action controlling method for use in a robot device to control the robot device to autonomously select and implement an action on the basis of its own internal state and an external stimulus, the method comprising:
-
an activation level calculating step of calculating the activation level of each of the actions stated in a plurality of action-stating modules from the internal state and external stimulus; and
an action selecting step of selecting one of the action-stating modules on the basis of the calculated activation level and making the action stated in the selected action-stating module, the action stated in each of the action-stating modules being associated with a predetermined internal state and external stimulus; and
in the activation level calculating step, an instinct level for an action associated with the internal state and a satisfaction level being determined based on the internal state, and the activation level for each action being calculated from an instinct level determined from a current internal state and a variation of a predicted satisfaction level determined from an internal state which, it is predicted based on the current internal state and input external stimulus, will vary. - View Dependent Claims (7, 8, 9, 10)
-
-
11. A program to have a computer control the robot device to autonomously select and implement an action on the basis of its own internal state and an external stimulus, the program comprising:
-
an activation level calculating step of calculating the activation level of each of the actions stated in a plurality of action-stating modules from the internal state and external stimulus; and
an action selecting step of selecting one of the action-stating modules on the basis of the calculated activation level and making the action stated in the selected action-stating module, the action stated in each of the action-stating modules being associated with a predetermined internal state and external stimulus; and
in the activation level calculating step, an instinct level for an action associated with the internal state and a satisfaction level being determined based on the internal state, and the activation level for each action being calculated from an instinct level determined from a current internal state and a variation of a predicted satisfaction level determined from an internal state which, it is predicted based on the current internal state and input external stimulus, will vary.
-
Specification