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1. (WO2003078113) ROBOT BEHAVIOR CONTROL SYSTEM, BEHAVIOR CONTROL METHOD, AND ROBOT DEVICE

Pub. No.:    WO/2003/078113    International Application No.:    PCT/JP2003/003129
Publication Date: Sep 25, 2003 International Filing Date: Mar 17, 2003
IPC: B25J 9/16
B25J 13/00
G06N 3/00
Applicants: SONY CORPORATION

FUJITA, Masahiro

TAKAGI, Tsuyoshi

HORINAKA, Rika

OHTANI, Shinya

Inventors: FUJITA, Masahiro

TAKAGI, Tsuyoshi

HORINAKA, Rika

OHTANI, Shinya

Title: ROBOT BEHAVIOR CONTROL SYSTEM, BEHAVIOR CONTROL METHOD, AND ROBOT DEVICE
Abstract:
A condition-dependent behavior hierarchy is composed of a schemer tree structure. A parent schemer calls a monitor function of a child schemer by an external stimulus and internal state as arguments. A child schemer uses an AL value as a return value. Moreover, a schemer calculates its AL value by calling the monitor function of a child schemer. To a route schemer, AL values from each sub-tree are returned, so that behavior evaluation and behavior execution are performed concurrently. Moreover, emotion is composed of a plurality of hierarchies by existence meaning. Which of the behaviors decided is to be performed is decided according to the external environment and the internal state at the moment. Behavior is selected for each hierarchy but a behavior of lower hierarchy is executed with higher priority. An instinctive behavior such as reflection and a behavior of higher hierarchy such as behavior selection using memory are executed in a single body without contradiction.