Robot apparatus and control method therefor, and robot character discriminating method

A robot apparatus, having behavioral models comprising state transition models and for generating action on the basis of said behavioral model, wherein:

• in said behavioral model, transition to a predetermined node is described as transition to a virtual node consisting of imaginary nodes, and a predetermined node group is allocated to said virtual node, and
• changing means for changing said node group to be allocated to said virtual node is provided.

A control method for a robot apparatus, having behavioral models, and for generating action on the basis of said behavioral model, comprising:

• a first step of generating said action by the use of partial or full state space of said behavioral model;
• and
• a second step of changing said state space to be used for said action generation, of said behavioral models while expanding or reducing said state space.

A control method for a robot apparatus, having behavioral models comprising state transition models, and for generating action on the basis of said behavioral models, comprising:

• a first step of describing transition to a predetermined node in said behavioral models as transition to a virtual node consisting of imaginary nodes, and allocating a predetermined node group to said virtual node;
• and
• a second step of changing said node group to be allocated to said virtual node.

13-32. (canceled)

A robot apparatus, comprising:

• detecting means for detecting an output from another robot apparatus;
• and
• character discriminating means for discriminating a character of said another robot apparatus on the basis of a result detected by said detecting means.

A character discriminating method for robot apparatus, comprising:

• a detecting step for detecting an output from a robot apparatus to discriminate a character of said robot apparatus on the basis of a detected result.