We propose novel architecture to realize a low-degree of freedom (DOF) Tsumori controller to manipulate a high-DOF robot. We believe that humans can immerse themselves to manipulate a robot if the robot reflects user intention. In our Tsumori controller, the user intuitively operates a joystick, and the robot moves semi -autonomously and reflects the user's intention that is extracted from intuitive input sequences. In this paper, we explain how to extract Tsumori, which is an archetype of human behavioral intention, and how to realize a Tsumori controller.
