Proceedings of the IEEK Conference (대한전자공학회:학술대회논문집)
- 2009.05a
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- Pages.264-266
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- 2009
Motivation-Based Action Selection Mechanism with Bayesian Affordance Models for Intelligence Robot
지능로봇의 동기 기반 행동선택을 위한 베이지안 행동유발성 모델
- Published : 2009.05.07
Abstract
A skill is defined as the special ability to do something well, especially as acquired by learning and practice. To learn a skill, a Bayesian network model for representing the skill is first learned. We will regard the Bayesian network for a skill as an affordance. We propose a soft Behavior Motivation(BM) switch as a method for ordering affordances to accomplish a task. Then, a skill is constructed as a combination of an affordance and a soft BM switch. To demonstrate the validity of our proposed method, some experiments were performed with GENIBO(Pet robot) performing a task using skills of Search-a-target-object, Approach-a-target-object, Push-up-in front of -a-target-object.
Keywords
- Probabilistic Affordence Models;
- soft Behavior Motivation switch;
- Bayesian network;
- Action Selection Mechanism