Abstract
This paper proposes a behavior selection method of humanoid robots to perform complex tasks using the degree of consideration-based mechanism of thought (DoC-MoT). The four input (context) symbols and seven target (atom behavior) symbols are defined to perform five complex tasks. The degree of consideration (DoC) for each input symbol is represented by the λ-fuzzy measure and the knowledge link strengths between input and target symbols are represented by the partial evaluation values. Each target symbol is globally evaluated by the fuzzy integral of the partial evaluation values with respect to the fuzzy measure values. Then, one target symbol with the highest evaluation value is selected and activated. To make corrections to the robot’s wrong behaviors, a learning process from a human’s behaviors is employed to update the DoCs and the knowledge link strengths. To show the effectiveness of the proposed method, simulations are performed in a text-based simulator developed in Visual Studio 2012. The results show that the proposed method can generate human-like behaviors.
Access provided by Autonomous University of Puebla. Download to read the full chapter text
Chapter PDF
Similar content being viewed by others
Keywords
References
Stulp, F., Beetz, M.: Combining Declarative, Procedural, and Predictive Knowledge to Generate, Execute, and Optimize Robot Plans. Robotics and Autonomous Systems 56, 967–979 (2008)
Ko, W.-R., Kim, J.-H.: Organization and Selection Methods of Composite Behaviors for Artificial Creatures Using the Degree of Consideration-based Mechanism of Thought. In: Proc. International Conference on Robot Intelligence Technology and Applications (RiTA), Denver, USA (2013)
Kim, J.-H., Cho, S.-H.: Two-layered Confabulation Architecture for an Artificial Creatures’ behavior selection. IEEE SMC-C 38, 834–840 (2008)
Kim, J.-H., Ko, W.-R., Han, J.-H., Zaheer, S.A.: The Degree of Consideration-based Mechanism of Thought and Its Application to Artificial Creatures for Behavior Selection. IEEE Computational Intelligence Magazine 7, 49–63 (2012)
Gilovich, T., et al.: Heuristics and Biases: The Psychology of Intuitive Judgment. Cambridge Univ. Press (2002)
Sugeno, M.: Theory of Fuzzy Integrals and Its Applications. Ph.D. dissertation, Tokyo Institute of Technololy (1974)
Sugeno, M.: Fuzzy Measures and Fuzzy Integrals - A survey. In: Fuzzy Automata and Decision Processes (1977)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Ko, WR., Kim, JH. (2015). Behavior Selection Method of Humanoid Robots to Perform Complex Tasks. In: Kim, JH., Yang, W., Jo, J., Sincak, P., Myung, H. (eds) Robot Intelligence Technology and Applications 3. Advances in Intelligent Systems and Computing, vol 345. Springer, Cham. https://doi.org/10.1007/978-3-319-16841-8_13
Download citation
DOI: https://doi.org/10.1007/978-3-319-16841-8_13
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-16840-1
Online ISBN: 978-3-319-16841-8
eBook Packages: EngineeringEngineering (R0)