지능로봇의 동기 기반 행동선택을 위한 베이지안 행동유발성 모델 = Motivation-Based Action Selection Mechanism with Bayesian Affordance Models for Intelligence Robot

다국어 초록 (Multilingual Abstract)

A skill is defined as the special ability to do something well, especially as acquired by learning and practice. To learn a skill, a Bayesian network model for representing the skill is first learned. We will regard the Bayesian network for a skill as an affordance. We propose a soft Behavior Motivation (BM)switch as a method for ordering affordances to accomplish a task. Then, a skill is constructed as a combination of an affordance and a soft BM switch. To demonstrate the validity of our proposed method, some experiments were performed with GENIBO (Pet robot) performing a task using skills of Search-a-target-object, Approach-a-target-object, Push-up-in front of - a-target-object.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 베이지안 행동 유발성 모델의 학습
• 3. 소프트 행동-동기 스위치(Soft Behavior-Motivation Switch)를 이용한 기술의 생성과 베이지안 행동 유발성 모델을 이용한 행동선택
• 4. 실험
• 5. 결론
• 6. Acknowledgement
• 참고문헌