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Machine apparatus and its driving method, and recorded medium

  • US 6,980,956 B1
  • Filed: 01/07/2000
  • Issued: 12/27/2005
  • Est. Priority Date: 01/07/1999
  • Status: Expired due to Fees
First Claim
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1. A mechanical device, characterized by comprising:

  • drive means for performing a behavior;

    stimulus detection means for detecting a stimulus;

    storage means for storing a behavioral model prescribing a behavior;

    control means for controlling said drive means based on the behavioral model stored in said storage means; and

    changing means for changing the behavioral model based on a predetermined stimulus detected by said stimulus detection means;

    wherein said behavioral model is a probability automaton prescribed by a state corresponding to a behavior and a transition probability of the state;

    said changing means changes the transition probability P in the probability automaton by calculating a new transition probability P″

    according to the following transition probability equations;

    wherein the transition probability is multiplied by an improvement ratio L1 if the stimulus detected by said stimulus detection means is evaluated as being good
    P″

    =P×

    (1+L1) (where 0<

    L1<

    1)and by a lowering ratio L2 if the stimulus is evaluated as not being good
    P″

    =P×

    L
    2 (where 0<

    L2<

    1).

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