LEARNING AND USE OF SCHEMATA IN ROBOTIC DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a method for controlling an autonomous mobile robot with excellent behavior when interacting with environment. SOLUTION: The method uses schemata being a group of sequences of motion commands expressed by parameters to make a robot achieve a set goal. The parameters for the sequences are gained from the state variables of a robotic controller. The robotic controller includes: an interface for supplying a sensory input to the robotic controller; a schema state memory supplied with either the input from a schema recognition module, the input from an inverse model module or a combination of them; an inverse model for generating a motion command based on the state variables and stored schemata; a forward model for predicting the state variables based on the state variables and stored schemata; and the schema recognition module for selecting a schema based on the supplied state variables of the robot controlled by the robotic controller. COPYRIGHT: (C)2010,JPO&INPIT