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WO2006030530A1 - Animal imite ayant des moyens d’estimation de priorite de stimulus - Google Patents

Animal imite ayant des moyens d’estimation de priorite de stimulus Download PDF

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Publication number
WO2006030530A1
WO2006030530A1 PCT/JP2004/014034 JP2004014034W WO2006030530A1 WO 2006030530 A1 WO2006030530 A1 WO 2006030530A1 JP 2004014034 W JP2004014034 W JP 2004014034W WO 2006030530 A1 WO2006030530 A1 WO 2006030530A1
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WO
WIPO (PCT)
Prior art keywords
event
reaction
sensor
external parameter
stimulus
Prior art date
Application number
PCT/JP2004/014034
Other languages
English (en)
Japanese (ja)
Inventor
Takanori Shibata
Kotarou Hayashi
Hidekazu Shimada
Original Assignee
National Institute Of Advanced Industrial Science And Technology
Microjenics, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by National Institute Of Advanced Industrial Science And Technology, Microjenics, Inc. filed Critical National Institute Of Advanced Industrial Science And Technology
Priority to PCT/JP2004/014034 priority Critical patent/WO2006030530A1/fr
Publication of WO2006030530A1 publication Critical patent/WO2006030530A1/fr

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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/004—Artificial life, i.e. computing arrangements simulating life

Definitions

  • the present invention relates to a simulated biological apparatus provided with a stimulus priority determination means that causes various operations to be performed by computer control, and particularly relates to optimization of sensitivity and response to externally received stimuli.
  • the conventional simulated biological apparatus generates only one sensor control value corresponding to the sensor value by referring only to the sensor information of the sensor expression unit group having the activity of a predetermined value or more.
  • the response control process based on filtering for new sensor information is limited, and the priority is individually compared and determined specifically between the currently executed action and the new sensor information. It has not yet been processed properly.
  • the present invention has been made in view of the above circumstances, and can perform efficient processing by reducing unnecessary processing for new sensor information, and can perform priority processing with the operation currently being executed. It is an object of the present invention to provide a simulated biological apparatus provided with a stimulus priority determination means for comparing and determining each of them individually and selectively expressing an appropriate action. Disclosure of the invention
  • the present invention is a simulated biological device that causes a plurality of operations to be generated by control by a computer, and a sensory means for detecting an stimulus received by the simulated biological device as an external parameter and generating an event, and a detection status of the external parameter To determine the reaction behavior for the combination of the external parameter and the internal parameter, and to realize the reaction motion in the movement of a predetermined part in response to the event.
  • the sensory detection device includes: a sensor that detects the stimulus; an input interface unit that detects the external parameter from the output of the sensor; and the sensor.
  • the event detection process for verifying the presence or absence of a new reaction event occurring at the event generation unit and the previous reaction event during the execution of the reaction operation is performed, and a new reaction event or a previous reaction event is performed in the event detection process.
  • the reaction event to be adopted by the action execution unit when the reaction action is determined is set to a priority given in advance for each category of the sensor that detects the external parameter applied to each reaction event.
  • Stimulus priority determination means for determining via at least one of the priority determination steps between categories determined based on or the priority determination steps within categories determined based on priorities given in advance to each reaction event It is also possible to take a form with
  • efficient processing can be performed only by filtering between new sensor information, and priority is given to the currently executed operation and the new sensor information. It is possible to compare and judge the degree individually, and to compare and judge the priority with the action that is being executed efficiently, and to selectively express the appropriate action.
  • FIG. 1 is a principal functional block diagram showing an example of a simulated biological apparatus according to the present invention.
  • FIG. 2 is an overall functional block diagram showing an example of a simulated biological apparatus according to the present invention.
  • FIG. 3 is a partial functional block diagram showing an example of a simulated biological apparatus according to the present invention.
  • FIG. 4 is a partial functional block diagram showing an example of a simulated biological apparatus according to the present invention.
  • FIG. 5 is a flowchart showing an example of external parameter detection processing in the simulated biological apparatus according to the present invention.
  • FIG. 6 is a flowchart showing an example of external parameter analysis processing in the simulated biological apparatus according to the present invention.
  • FIG. 7 (A) is a flowchart showing an example of event detection processing and priority event determination processing in the simulated biological apparatus according to the present invention.
  • FIG. 7 (B) is a flowchart showing an example of priority event determination processing in the flowchart of FIG. 7 (A).
  • the illustrated embodiment is a simulated biological apparatus that generates a plurality of operations under the control of a computer system, that is, a so-called robot system.
  • the simulated biological apparatus includes a plurality of sensors 7 and a plurality of sensors as shown in FIG.
  • the computer is composed of a computer having a switch, a memory, and a CPU that controls the sensor 7 and the sensor 7, and is housed in a casing having a predetermined outer shape and a movable structure. .
  • Perceiving means 1 to generate events (reaction events) for detecting and reacting automatically, and spontaneously generating events (autonomous events) for developing autonomous behavior even when external parameters due to stimulation are not detected
  • action determination means 4 for selecting the event of the action generated from either the reaction event or the autonomous event and the detection condition of the external parameter included in the reaction event.
  • a plurality of motion patterns corresponding to combinations of simulated emotion forming means 2 for guiding internal parameters onto the memory, and external parameters included in the reaction event and internal parameters (including those included in an autonomous event; the same applies hereinafter).
  • Database 3 in which the event assignments are stored, and the reaction event or autonomous event (hereinafter “event”).
  • event the database 3
  • the reaction pattern or autonomous action pattern for the combination of the external parameter and the internal parameter included in the reaction event is determined.
  • It is a simulated biological device having an action execution means 5 for receiving the action pattern of the reaction action or the autonomous action in response to the movement of a predetermined part and a timer 18 for outputting time information (see FIG. 2). .
  • the sensory means 1 includes a sensor 7 that detects sound, light, infrared, heat, acceleration, or pressure built in the simulated biological device, and performs an arithmetic process on the output of the sensor 7 and includes external parameters.
  • a sensor processing unit 8 that outputs as a reaction event, and the simulated emotion forming means 2 uses an external parameter obtained from the perceptual means 1 to derive an emotion parameter as one of the internal parameters. 9 and from the calculated emotion parameters, the reaction holding time, the number of repetitions, the amount of movement (amplitude), the steady position, and the movement speed (hereinafter collectively referred to as “motion elements”) are changed. It is composed of an operation propagation amount calculation unit 10 for deriving an operation propagation parameter that is an internal parameter (see FIGS. 2 and 3).
  • the emotion parameter is a combination of numerical data composed of a pleasant / discomfort parameter Kkh and an excitement / sedation parameter Kkt.
  • the simulated emotion formation means 2 detects external parameters of various reaction events, and the pleasant / discomfort parameter Kkh Excitement Z Calorific parameter The numerical value of Kkt is increased or decreased as appropriate (for example, see Table 1). Based on the increase and decrease of those emotion parameters, as shown in Table 2, “joy”, “anger”, “sorrow” As a result of being recognized as one of the five simulated emotion zones consisting of ",""Easy", and "Neutral” and expressed as a reaction action by the action execution means 5, the sentiment of the simulated biological apparatus is simulated. It is expressed and its simulated emotion changes under certain conditions every time it receives a stimulus.
  • the motion determination means 4 generates the autonomous event including internal parameters (autonomous parameters) relating to autonomous motion that are spontaneously expressed even when no externally detectable stimulus is detected and no external parameter is detected.
  • Autonomous motion generation unit 1 1 that receives the response event and the autonomous event, analyzes them, and determines either the response event or the autonomous event based on the priority order of the following event priority information set in advance. It is composed of the acceptance / rejection decision part 1 2 to output (see Fig. 2).
  • the event includes event classification information for distinguishing between the autonomous event and the reaction event, and event priority information indicating the priority order of various events, and in the case of the reaction event, the external parameter is used as the external parameter.
  • Event classification information that identifies one or more sensors 7 (acceleration sensors, pressure-sensitive (tactile) sensors, etc.) that detected the stimulus from the event, and event intensity that represents the amount of stimulation detected by the one or more sensors It has information.
  • sensors 7 acceleration sensors, pressure-sensitive (tactile) sensors, etc.
  • event intensity that represents the amount of stimulation detected by the one or more sensors It has information.
  • the event classification information indicates a tactile sensor
  • a stimulus such as “striking”, “striking”, and “pressing strongly” can be expressed by the amount of the stimulus.
  • the autonomous parameter is included as the event classification information.
  • the operation execution means 5 includes various actuators 19 including motors, speakers, and the like, and receives the event and refers to the database 3 to generate operation patterns according to external parameters and autonomous parameters included in the various events.
  • the sensor processing unit 8 of the sensory means 1 includes an input interface unit 27 that detects the external parameter from the output of the sensor 7, and one case obtained from the sensor 7 via each input interface unit 27.
  • an event generator 25 that generates a reaction event assigned to an external parameter or a combination of multiple external parameters
  • a reaction event output from the event generator 25 That is, when a reaction event is continuously output from the event generation unit 25 with a relatively short time difference in a certain time zone, the reaction event to be adopted by the operation execution means 5 is changed to the old and new reaction events.
  • This is provided with a stimulus priority determination means 26 that determines one from any of the events.
  • Each input interface unit 27 includes a level detection unit 20 that detects the amount of stimulus detected from the sensor 7 as an external parameter, and a level that distributes the level level of the external parameter based on one or more threshold values.
  • the event generation unit 25 includes a determination unit 6, and the event generation unit 25 refers to an event table having contents as shown in the left part of Table 4 provided in the memory, for example.
  • the tactile sensor is exemplified in FIG. 5), depending on the detection state of the sensor 7 and the result of the level determination (for example, the detection level determination of the tactile sensor corresponding to stroking, hitting, or pressing strongly). Generate various reaction events (first (See ⁇ and Figure 2). Table 4
  • each event generation unit 25 in this example is based on the series of processing (external parameter detection) shown in Fig. 5 on the basis of the presence or absence of sensor information (external parameters) based on inputs from multiple sensors 7. Process), and the series of processes shown in Fig. 6 (external parameter analysis process), the process differs depending on whether the detected external parameters are none, only one, or multiple cases. To reduce the number of newly generated reaction events to one.
  • the external parameter detection process is further repeated to detect a new external parameter (non-detection process).
  • the sensor with the highest priority is selected from the sensors that have detected the individual external parameters, and the inter-category priority table (based on the type of the sensor and the amount of stimulation) For example, refer to the priority between categories in Table 5 or Table 6) or the intra-category priority table (for example, refer to the intra-category priority in Table 5 or 6) and select one.
  • the inter-category priority table based on the type of the sensor and the amount of stimulation
  • Al A force different from the interrupt criterion Interrupts the current operation and moves to a new event.
  • C1 (A force different from the interrupt criterion) Cancel the incoming event.
  • A1 Interrupts the current operation (although different from the interrupt judgment criteria) and moves to the operation for a new event.
  • One A combination that cannot be detected.
  • the priority determination unit 26 periodically verifies the presence or absence of a new reaction event sent from the event generation unit 25 and the presence or absence of a previous reaction event currently being executed. In the event detection process, a new reaction event is detected from the event generation part 25 to which the interface part 27 of each sensor is connected, or a previous reaction event is detected.
  • the reaction event to be adopted by the action execution means 5 when determining the reaction action is, for example, as shown in Table 5 or Table 6,
  • the step of determining the priority between categories determined based on the priority given in advance for each category of the sensor 7 that has detected the external parameter related to the response event, or the organism estimated from the stimulus that is the source of each reaction event In view of the influence on the response, the determination is made through at least one of the priority determination steps in the power category that is determined based on the priority given in advance to each reaction event.
  • the new reaction event detected by the event detection process is sent to the action determination means 4, and the action determination means 4 sends the new event event.
  • ⁇ is adopted as an event sent to the operation executing means 5
  • the operation executing means 5 starts to execute an operation pattern for the new event.
  • the destination of the ongoing operation pattern is expressed.
  • the intra-category priority determination step is performed, and in the case of different categories, the inter-priority priority determination step is performed.
  • the priority of the previous event wins the new event that occurred later is discarded and the ongoing operation pattern is changed. If the priority of the new event is higher, the execution of the ongoing action pattern is stopped and a new event is sent to the action determining means 4.
  • the action execution means 5 starts executing the action pattern for the new event. (See Fig. 6).
  • the latest reaction event is sent to the action determining means 4.
  • priority of superiority or inferiority depends on the type of sensor 7 alone. It is appropriate to provide Detection from sensor 7 associated with system operation, and sensor (heat sensor, current sensor, potential sensor, etc.) 7 that detects contents associated with system abnormalities such as battery exhaustion and abnormal overheating.
  • the priority of the event by is set higher than the event by the detection from other types of sensors 7, and all other types of sensor 7 have the same priority (see Table 5 and Table 6).
  • the contents of the judgment criterion table are basically set so that the event with a strong stimulus has a higher priority for the event with a weak stimulus regardless of whether the sensor 7 is the same or not. Examples of these criteria are shown in Table 5 and Table 6 above, and the relationship between the previous event and the new event that occurred later is shown in the above criteria table. Is saved.
  • the priority among sensors of the same type for sound sensor input, (priority of event due to detection of relatively weak sound) ⁇ (priority of event due to detection of relatively strong sound), for optical sensor input, (priority of event due to detection of daily light intensity change) ⁇ (priority of event due to detection of extraordinary light intensity change (camera flashlight, etc.)), tactile sense (pressure)
  • the priority of the event is relatively weak stimulus, such as (priority of event by detecting relatively weak vibration) ⁇ (priority of event by detecting relatively strong vibration).
  • who by that Iben me detection of relatively strong stimulus is set outweigh the event by the detection. The rationale is that while the senses are paralyzed by strong stimuli in ecology, weak stimuli will be difficult to perceive.
  • Priority ⁇ (Priority by event based on detection of speech recognition input using microphone and language recognition means (speech recognition chip, etc.)).
  • the tactile sensor input is detected by the time difference from the back to the front, so that the boiled event (in reverse fist Event priority) and set as (event on reverse touch) ⁇ (boiled event (front order event) without countering the fur due to time difference detection from front to back at multiple locations of the tactile sensor input)
  • the boiled event in reverse fist Event priority
  • Table 4 is an example of the relationship between the sensor location where a stimulus is detected, the event that occurs when the stimulus is detected, and the change in emotion / parameter.
  • reaction continuation means which is a feature of the simulated biological device according to the present invention, is adopted, the ecology of the simulated organism can be expressed more precisely, and communication that transcends a simple stimulus pole becomes possible.

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Abstract

L’invention concerne un animal imité effectuant une pluralité d’opérations commandées par un ordinateur. L’animal imité comprend : des moyens de perception (1) pour détecter un stimulus reçu par l’animal imité en tant que paramètre externe et générer un évènement ; des moyens de formation de sensations imitées (2) pour exprimer la sensation imitée en tant que paramètre interne selon l’état de détection du paramètre externe ; des moyens d’exécution d’opérations (5) pour décider de l’opération de réaction pour la combinaison du paramètre externe et du paramètre interne et recevoir l’évènement afin de réaliser l’opération de réaction en tant que mouvement d’une partie prédéterminée. Les moyens de perception (1) comprennent : un capteur (7) pour détecter le stimulus ; une unité d’interface d’entrée (27) pour détecter le paramètre externe provenant de la sortie du capteur ; une unité de génération d’évènements (25) pour générer un évènement attribué à la combinaison d’un seul ou d’une pluralité de paramètres externes obtenus par l’intermédiaire de l’interface d’entrée (27) provenant du capteur ; et des moyens d’estimation de priorité de stimulus (26) pour décider de l’évènement à employer par les moyens d’exécution d’opérations (5) lorsqu’un conflit d’évènements sortis de l’unité de génération d’évènements (25) est détecté.
PCT/JP2004/014034 2004-09-17 2004-09-17 Animal imite ayant des moyens d’estimation de priorite de stimulus WO2006030530A1 (fr)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113392095A (zh) * 2020-03-13 2021-09-14 横河电机株式会社 数据管理系统以及数据管理方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003285285A (ja) * 2002-03-27 2003-10-07 Nec Corp ソフトウェアエージェントを有するロボット装置及びその制御方法とプログラム
JP2003334785A (ja) * 2002-03-15 2003-11-25 Sony Corp ロボットの行動制御システム及び行動制御方法、並びにロボット装置
JP2004283958A (ja) * 2003-03-20 2004-10-14 Sony Corp ロボット装置、その行動制御方法及びプログラム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003334785A (ja) * 2002-03-15 2003-11-25 Sony Corp ロボットの行動制御システム及び行動制御方法、並びにロボット装置
JP2003285285A (ja) * 2002-03-27 2003-10-07 Nec Corp ソフトウェアエージェントを有するロボット装置及びその制御方法とプログラム
JP2004283958A (ja) * 2003-03-20 2004-10-14 Sony Corp ロボット装置、その行動制御方法及びプログラム

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113392095A (zh) * 2020-03-13 2021-09-14 横河电机株式会社 数据管理系统以及数据管理方法

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