Abstract -To pursue intelligence is our research purpose. By considering knowledge from related research fields such as psychology, biology, cognitive science, physiology, etc., we have managed to take into account three factors, i.e. (i) to have a physical body to be able to interact with the environment, (ii) to implement a hierarchical structure for intelligence and (iii) not to prepare modules expressing functional similaritiesa priori. By applying harmony theory - a mathematical model produced in the field of cognitive science - we succeeded in implementing these three factors and creating a hierarchical structure for robot intelligence. The greates asset of this research is that we do not have to prepare functionally isolated modulesa priori. The Harmony Theory Network (HTN) automatically organizes the robot behavior in a hierarchical manner as robot intelligence in relation to the environment. That is to say, we find that (i) differences in the environment influence the structure of the HTN, (ii) the structure of the HTN acknowledges differences in sensor tasks automatically, (iii) the HTN organizes the connections for sensory and motor processing in its lower layer, and coordinates the well-organized robot behavior in its higher layer by combining the sensory-motor relation obtained by the lower layer, and (iv) it is possible to interpret the meaning of the HTN structure afterwards in relation to the robot behavior.
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