Method for controlling a plurality of robot effectors

A method for controlling a plurality of effectors of a robot by a plurality of primitives made up of parameterizable coded functions:

• the primitives being activated conditionally by actions selected by an action selection system,
• the action selection system:
• comprising a declarative memory wherein is stored a dynamic library of rules, each associating a context with an action;
• and
• based on a list of coded objects stored in a memory determining the robot's representation of the world,
• the coded objects stored in the memory being computed by perception functions;
• the perception functions being computed from signals provided by the robot's sensors;
• wherein the method is based on associating, in every step, coded objects with a sequence of characters corresponding to their semantic description, comprising:
• i. a semantic description of the coded objects stored in the memory, made up of a string of characters representing a perception function of the robot and another string of characters representing a perceived object;
• ii. a semantic description of the primitives made up of a string of characters representing a possible action of the robot and another, optional string of characters representing the optional parameters of this action;
• and
• iii. a semantic description of the rules, made up of the combination of a string of characters representing the associated context and another string of characters representing the associated action.