ROBOT AND CONTROL SYSTEM
First Claim
1. A control system comprising a plurality of modules hierarchically organized according to the level of a frequency band, wherein:
- each of the modules is configured to search for a plurality of action candidates which are candidates for an action form of a controlled object and evaluates total fitness in view of both of a main purpose and a sub-purpose in such a way that the contribution of main fitness to a main purpose mainly under the charge of the module is higher than the contribution of sub-fitness to the sub-purpose of any other module, with respect to each of the action candidates; and
the control system is configured to control an operation of the controlled object in a form in which an evaluation result of the total fitness obtained by a high-order module of a high frequency is reflected in preference to an evaluation result of the total fitness obtained by a low-order module of a low frequency.
1 Assignment
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Accused Products
Abstract
A control system or the like capable of causing a controlled object to act in an appropriate form in view of an action purpose of the controlled object to a disturbance in an arbitrary form.
Each of a plurality of modules modi, which are hierarchically organized according to the level of a frequency band, searches for action candidates which are candidates for an action form of a robot R matching with a main purpose and a sub-purpose while giving priority to a main purpose mainly under the charge of the module over a sub-purpose mainly under the charge of any other module. The actions of the robot R is controlled in a form in which the action candidates of the robot R searched for by a j-th module of a high frequency are reflected in preference to the action candidates of the robot R searched for by a (j+1)th module of a low frequency.
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Citations
24 Claims
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1. A control system comprising a plurality of modules hierarchically organized according to the level of a frequency band, wherein:
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each of the modules is configured to search for a plurality of action candidates which are candidates for an action form of a controlled object and evaluates total fitness in view of both of a main purpose and a sub-purpose in such a way that the contribution of main fitness to a main purpose mainly under the charge of the module is higher than the contribution of sub-fitness to the sub-purpose of any other module, with respect to each of the action candidates; and the control system is configured to control an operation of the controlled object in a form in which an evaluation result of the total fitness obtained by a high-order module of a high frequency is reflected in preference to an evaluation result of the total fitness obtained by a low-order module of a low frequency. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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Specification