Behavior control system

Details Behavior control system Behavior control system

2009-06-18

2011-12-13

Tran, Khoi (Department: 3664)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S245000, C700S247000, C700S258000, C700S259000, C700S264000

Reexamination Certificate

active

08078321

ABSTRACT:
A behavior control system is capable of causing an agent carry out a task by smooth motions. The behavior control system makes it possible to reproduce a typical shape characteristic of a reference trajectory, i.e., the characteristic of a motion of an instructor carrying out a task, by using a first model defined on the basis of a plurality of reference trajectories representing the position of a first state variable in a time-series manner. Further, a learning trajectory representing the position of a second state variable in a time-series manner is generated on the basis of a second model, which represents an agent's motion in which the position of the second state variable corresponding to the first state variable and one or a plurality of time differential values (a displacing velocity and acceleration) thereof continuously change, in addition to the first model.

REFERENCES:
“Motion Emergency of Humanoid Robots by Attractor Design of a Nonlinear Dynamics”, Masafumi Okada et al., Journal of the Society of Instrument and Control Engineers, vol. 41, No. 6, pp. 533-540 (2005).

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