1997 年 15 巻 6 号 p. 934-942
In order to utilize robots in the service fields, such as in offices and in hospitals, the robots should equip the functions for coexisting with human. In this paper, we propose EBBA (Emergent Behavior Based Architecture) for that purpose. EBBA is constructed by behavior modules. And each module can act concurrently by referring inputs from sensors, its object states and its internal states. And the emergent behavior of the system is defined by a certain set of the object states. Therefore, a planner (one of the behavior modules) can control the emergent behavior of the system by refeering and by changing the other modules' object states and internal states. We have implemented a robot hand system by using EBBA. We also shows that the system can perform tasks efficiently by selecting emergent behaviors as the experimental results.