Abstract
The creation of physical behavior by computational means has been approached differently by industrial and artificial intelligence robotics. Industrial robotics, considering fast response of a robot its most important characteristic, has equipped the robot with predefined, specific behavioral trajectories resulting in fast but inflexible behavior. Artificial intelligence robotics, claiming flexibility as the paramount robot feature, has employed inferred behavior whereby the robot itself determines behavioral patterns for tasks based on the robot's general knowledge about a task domain. Response is now flexible, but the response time is commonly badly degraded. This work defines an action propensity “skill” which generates flexibleand fast behavior. Flexibility is achieved by attaching “perceptions” in skills to guide behavior; fast response results from the direct activation of skills. The acquisition and generalization of skills happens under the supervision of a human teacher in an advice-taking mode into which the robot shifts from the execution mode after recognizing lacking competence for a given task. This paper defines such skills, describes an implemented skilled robot system, and discusses some simulation results.
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Jäppinen, H. Sense-controlled flexible robot behavior. International Journal of Computer and Information Sciences 10, 105–125 (1981). https://doi.org/10.1007/BF00977744
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DOI: https://doi.org/10.1007/BF00977744