US 8,078,321 B2 · Behavior control system

Abstract

A behavior control system is capable of causing an agent carry out a task by smooth motions. The behavior control system makes it possible to reproduce a typical shape characteristic of a reference trajectory, i.e., the characteristic of a motion of an instructor carrying out a task, by using a first model defined on the basis of a plurality of reference trajectories representing the position of a first state variable in a time-series manner. Further, a learning trajectory representing the position of a second state variable in a time-series manner is generated on the basis of a second model, which represents an agent's motion in which the position of the second state variable corresponding to the first state variable and one or a plurality of time differential values (a displacing velocity and acceleration) thereof continuously change, in addition to the first model.

Claims8

Dependent claims

A behavior control system for causing an agent to carry out a task by emulating a behavior taken by an instructor to carry out the task, comprising:

a trajectory generating element which generates a learning trajectory indicating a position of a second state variable in a time-series manner on a basis of a first model which represents a typical shape characteristic of a reference trajectory indicating, in a time-series manner, a position of a first state variable which is displaced with a motion of the instructor, and a second model which represents a motion of the agent in which the position and one or a plurality of n-th order time differential values (n=1, 2, . . . ) of the second state variable corresponding to the first state variable continuously change,
wherein the motion of the agent is controlled according to the learning trajectory generated by the trajectory generating element.

Dependencies are inferred from the claim text.

Behavior control system

Life of this patent

Behavior control system

Life of this patent

Abstract

Claims8