1P1-E04 動物の意識メカニズムを模倣したロボットの行動設計

Abstract

A 6-DoF serial arm hand is controlled to move toward an object in an unseen environment. A consciousness-based architecture (CBA) we developed, a hierarchical human development model representing the relationship between consciousness and behavior, is used for imitating human groping action. During forward motion toward the object, a robot arm hand can help to avoid obstacles, to which the robot collects contact information. CBA organizes such information to learn a path plan for backward motion to the origin without contact to the obstacles. Experimental result show CBA successfully reaches the hand to the goal avoiding an obstacle.