Robot and control system

摘要

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.

主权项

1. A control system comprising at least one processor, the at least one processor comprising a plurality of modules hierarchically organized according to the level of a frequency band, wherein:
each of the plurality of modules has a main purpose, and is configured to search for a plurality of action candidates which are candidates for an action form of a controlled object, and to evaluate total fitness in view of both the main purpose and a sub-purpose, which is the main purpose of a lower-order module, in such a way that the contribution of a main fitness to the main purpose is higher than the contribution of a sub-fitness to the sub-purpose, 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, and the main purposes of each the plurality of modules are reflected in the control of the operation of the controlled object by the control system.