Behavior System Design and Implementation in Spined Musle-Tendon Humanoid ""Kenta""

摘要

Humans' adaptive behavior seem to be realized by integrating voluntary behavior and behavior by which they react to an environment. Therefore we divide robots' adaptive behavior into three kinds of behavior: voluntary behavior, refexes, and situation reactive behavior. Here, ""voluntary behavior"" refers to the one which is planed to achieve their purpose. ""reflexes"" refers to the ones which is prepared by human and by which robots instantly react to an environment. ""situation reactive behavior"" refers to the one which is acquired for each voluntary behavior in order to adapt to an environment. In this paper, we propose integration of voluntary behavior, reflexes, and situation reactive behavior for adaptation to an environment or a situation, and then an implementation of the brain system including behavior integration is presented. Furthermore, experiments of behavior integration is done using 96 DOF tendon-driven humanoid ""Kenta"".