A simple bi-layered architecture to enhance the liveness of a robot

Yusuke Takimoto, Komei Hasegawa, Taichi Sono, Michita Imai

研究成果: Conference contribution

2 引用 (Scopus)

抜粋

It is important for a robot to appropriately respond to its surrounding environment and events to communicate smoothly with humans as opposed to following fixed movements specified in advance. In this paper, a simple bi-layered architecture (SB architecture) is proposed to integrate behaviors in two stages: prioritization and weighted averaging. In addition, SB architecture integrates voluntary movements by prioritization and integrates involuntary and reflex movements by weighted averaging, thereby generating robot behaviors that immediately respond to events that occur around the robot. What advantages SB architecture has are that it can easily generate various behaviors by combining multiple behaviors and that it is possible to propose a simple design for robot behavior. Furthermore, since behavior occurs in response to sensors, the robot's behaviors are reactive to the surrounding environment and events. In particular, if a robot performs the behavior necessary for communication with humans, such as changing its gaze and gestures, it is possible to ensure that the robot possesses liveness to promote communication with humans. In addition, since SB architecture has a simple structure to facilitate the design of robots, it is possible to automatically set parameters by optimizing the parameters using pairs of sensor information and ideal behaviors. The optimization of the parameters leads to generating behaviors characterized with liveness by appropriately combining behaviors.

元の言語English
ホスト出版物のタイトルIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
出版者Institute of Electrical and Electronics Engineers Inc.
ページ2786-2792
ページ数7
2017-September
ISBN(電子版)9781538626825
DOI
出版物ステータスPublished - 2017 12 13
イベント2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
継続期間: 2017 9 242017 9 28

Other

Other2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Canada
Vancouver
期間17/9/2417/9/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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    Takimoto, Y., Hasegawa, K., Sono, T., & Imai, M. (2017). A simple bi-layered architecture to enhance the liveness of a robot. : IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems (巻 2017-September, pp. 2786-2792). [8206108] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2017.8206108