力学的情報処理系の階層化によるヒューマノイドロボットの行動生成

抄録

In this paper, we develop the hierarchical design method of the dynamics-based information processing system. This system has a sensor space that recognizes sensor signals and motor space that generates humanoid motions. These two spaces are connected with parameters that define the basin of attractors. Through the interaction with environment, the humanoid robot generates and transits its motion depending on the internal state.