Robot behavior control based on current and predictive internal, external condition and states with levels of activations

摘要

In a robot device, an action selecting/control system includes a plurality of elementary action modules each of which outputs an action when selected. An activation level calculation unit calculates an activation level AL of each elementary action on the basis of information from an internal-state manager and external-stimulus recognition unit and with reference to a data base. An action selector selects an elementary action whose activation level AL is highest as an action to be implemented. Each action is associated with a predetermined internal state and external stimulus. The activation level calculation unit calculates an activation level AL of each action on the basis of a predicted satisfaction level variation based on the level of an instinct for an action corresponding to an input internal state and a predicted internal-state variation predictable based on an input external stimulus.