Robot and control system

A robot comprising:

• a base and a plurality of legs extended from the base, the robot being a moving apparatus which moves with the movements of the plurality of legs;
• and
• a control system comprising at least one processor, the at least one processor comprising a plurality of modules hierarchically organized according to the level of a frequency band, wherein:
• each of the plurality of modules has a main purpose, and is configured to search for a plurality of action candidates which are candidates for an action form of a controlled object, and to evaluate total fitness in view of both the main purpose and a sub-purpose, which is the main purpose of a lower-order module, in such a way that the contribution of a main fitness to the main purpose is higher than the contribution of a sub-fitness to the sub-purpose, with respect to each of the action candidates;
• the control system is configured to control an operation of the controlled object in a form in which an evaluation result of the total fitness obtained by a high-order module of a high frequency is reflected in preference to an evaluation result of the total fitness obtained by a low-order module of a low frequency, and the main purposes of each the plurality of modules are reflected in the control of the operation of the controlled object by the control system;
• each of the modules is configured to search for action candidates which are candidates for the action form of the controlled object matching with the main purpose and the sub-purpose while giving priority to the main purpose over the sub-purpose;
• each of the modules is configured to search for the action candidates which determine the position or the position and posture of a moving apparatus as the controlled object;
• each of the modules is configured to search for the action candidates of the moving apparatus for a shorter period in comparison with the low-order module of a low frequency as the high-order module has a higher frequency;
• and
• the control system further comprises a first module, a second module, and a third module, as the plurality of modules, configured to search for the position trajectory or the position trajectory and posture trajectory of a robot as the moving apparatus having a base and a plurality of legs extended from the base, as the action candidates, wherein:
• the first module is configured to search for a gait over a first specified number of steps of the robot for causing the robot to stabilize the posture as a first action candidate;
• the second module is configured to search for a local route, as a second action candidate, which determines a gait over a second specified number of steps, which is greater than the first specified number of steps, for causing the robot to prevent a contact with an object;
• and
• the third module is configured to search for a general route for causing the robot to reach a target position as a third action candidate.

A robot comprising:

• a base and a plurality of legs extended from the base, the robot being a moving apparatus which moves with the movements of the plurality of legs;
• and
• a control system comprising at least one processor, the at least one processor comprising a plurality of modules hierarchically organized according to the level of a frequency band, wherein:
• each of the plurality of modules has a main purpose, and is configured to search for a plurality of action candidates which are candidates for an action form of a controlled object, and to evaluate total fitness in view of both the main purpose and a sub-purpose, which is the main purpose of a lower-order module, in such a way that the contribution of a main fitness to the main purpose is higher than the contribution of a sub-fitness to the sub-purpose, with respect to each of the action candidates;
• the control system is configured to control an operation of the controlled object in a form in which an evaluation result of the total fitness obtained by a high-order module of a high frequency is reflected in preference to an evaluation result of the total fitness obtained by a low-order module of a low frequency, and the main purposes of each the plurality of modules are reflected in the control of the operation of the controlled object by the control system;
• each of the modules is configured to predict a plurality of future states of the controlled object according to each of the action candidates searched for by the module and evaluate the total fitness on the basis of each of the future states with respect to each of the action candidates;
• the module having a high-order module of a higher frequency than the module is configured to predict further future states of the controlled object subsequent to the future states of the controlled object predicted by the high-order module;
• the operation of the controlled object is configured to be controlled in a form in which the evaluation result of the total fitness obtained by the high-order module of a high frequency is reflected in precedence to the evaluation result of the total fitness by the low-order module of a low frequency;
• each of the modules is configured to search for the action candidates of a moving apparatus for a shorter period in comparison with the low-order module of a low frequency as the high-order module has a higher frequency;
• each of the modules is configured to search for the action candidates which determine the position or the position and posture of the moving apparatus as the controlled object and predict the position or the position and posture of the moving apparatus as the future state of the controlled object;
• and
• the control system further comprises a first module, a second module, and a third module, as the plurality of modules, configured to search for the position trajectory or the position trajectory and posture trajectory of a robot as the moving apparatus having a base and a plurality of legs extended from the base as the action candidates, wherein:
• the first module is configured to search for a gait over a first specified number of steps of the robot for causing the robot to stabilize the posture as a first action candidate and predict the position or the position and posture in the future of the robot according to each of the first action candidates as a plurality of first future states;
• the second module is configured to search for a local route, as a second action candidate, which determines a gait over a second specified number of steps, which is greater than the first specified number of steps, for causing the robot to prevent a contact with an object and predict the position or the position and posture in the future of the robot according to each of the second action candidates as a plurality of second future states;
• and
• the third module is configured to search for a general route to cause the robot to reach a target position or to cause the robot to reach the target position with a target posture as a third action candidate, and predict the position or the position and posture in the future of the robot according to each of the third action candidates as a plurality of third future states.