| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot device provided with a command management means capable of dividing and integrating resources, preventing disturbance of sequence due to twice hitting of a cancel command, and complementing parameter and command name when handling a metacommand. SOLUTION: A command manager corresponds to a plurality of clients from, for example, a situation depending action hierarchy (SBL) of a high-order layer and a client from a reflex action part (Reflexive SBL). Moreover, the command manager corresponds to a plurality of agents of a low-order layer, Agent 1, Agent 2, and Agent 3. A plurality of these agents in the low-order layer understand commands from the clients in accordance with scenes and execute processing based on independent discrimination for resources related to devices required for the operation of the robot device such as a body trunk unit, a head part unit, an arm part unit, a leg part unit, etc. Each agent, Agent 1, Agent 2, and Agent 3, executes processing for a plurality of resources, respectively. COPYRIGHT: (C)2003,JPO
|
