Machine apparatus and its driving method, and recorded medium
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×
L2 (where 0<
L2<
1).
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Abstract
Drive means for performing a behavior based on a behavioral model prescribing a behavior is controlled, and the behavioral model is changed depending on a predetermined stimulus. Therefore, by giving the stimulus, the behavioral model can be freely changed, and a mechanical device, etc. having an improved amusing element can be realized.
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Citations
11 Claims
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1. A mechanical device, characterized by comprising:
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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×
L2 (where 0<
L2<
1).- View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for driving a mechanical device, comprising:
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a controlling step of controlling drive means for allowing said mechanical device to perform a behavior based on a behavioral model prescribing a behavior; a stimulus detecting step of detecting a stimulus; and a changing step of changing the behavioral model based on a predetermined stimulus detected in said stimulus detecting step;
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 step 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 in said stimulus detection step is evaluated as being good;
P″
=P×
(1+L—
) (where 0<
L1<
1)and by a lowering ratio L2 if the stimulus is evaluated as not being good;
P″
=P×
L2 (where 0<
L2<
1).
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11. A recording medium, where a program by which a computer drives a mechanical device is recorded, characterized in that the program comprises:
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a controlling step of controlling drive means for allowing said mechanical device to perform a behavior based on a behavioral model prescribing a behavior; a stimulus detecting step of detecting a stimulus; and a changing step of changing the behavioral model based on a predetermined stimulus detected in said stimulus detecting step;
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 step 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 in said stimulus detection step 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×
L2 (where 0<
L2<
1).
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Specification