Robot device and robot control method
First Claim
1. A robot apparatus which outputs a predetermined behavior, comprising:
- behavior management means for selecting a behavior which is based on knowledge relating to behaviors in the past or a behavior which is not based on the knowledge relating to the behaviors in the past; and
control means for controlling said robot apparatus;
said control means controlling said robot apparatus based on the behavior selected by said behavior management means which is based on the knowledge relating to the behaviors in the past or is not based on the knowledge relating to the behaviors in the past to output the predetermined behavior.
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Abstract
The invention provides a robot apparatus and a robot controlling method wherein the robot apparatus can behave so that its user may not lose interest in the robot apparatus. A behavior management section (72) selects one of a seeking behavior and a knowledge utilizing behavior based on a behavior selection probability. When the behavior management section (72) executes the selected behavior (a), a reward (r) is provided from an environment/user (111). The behavior (72) updates a behavior value based on the reward (r) and applies the behavior value to the Boltzmann distribution to determine the behavior selection probability. Further, the behavior management section (72) varies the Boltzmann temperature based on input information. The present invention can be applied to a reinforced learning system for a robot.
126 Citations
7 Claims
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1. A robot apparatus which outputs a predetermined behavior, comprising:
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behavior management means for selecting a behavior which is based on knowledge relating to behaviors in the past or a behavior which is not based on the knowledge relating to the behaviors in the past; and
control means for controlling said robot apparatus;
said control means controlling said robot apparatus based on the behavior selected by said behavior management means which is based on the knowledge relating to the behaviors in the past or is not based on the knowledge relating to the behaviors in the past to output the predetermined behavior. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A robot controlling method for a robot apparatus which outputs a predetermined behavior, comprising:
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a behavior management step of selecting a behavior which is based on knowledge relating to behaviors in the past or a behavior which is not based on the knowledge relating to the behaviors in the past; and
a control step of controlling said robot apparatus;
the process at the control step controlling said robot apparatus based on the behavior selected by the process at the behavior management step which is based on the knowledge relating to the behaviors in the past or is not based on the knowledge relating to the behaviors in the past to output the predetermined behavior.
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Specification