自由エネルギー原理に基づくロボットの障害時の行動選択

抄録

In this study, we employed a control algorithm based on the free energy principle to control the actions of a robot arm towards achieving a specified posture. By administering the robot arm in accordance with the free energy principle, we endowed the robot arm with the capacity to possess and update its perception, subsequently generating actions based on the perception. Through the minimization of errors between the sensory information predicted based on the perception and the sensory information acquired from the external environment, the robot arm can infer the state of the external world, generate actions appropriate to its body structure, and achieve the goal.