Planning-driven behavior selection network for controlling a humanoid robot

Yu Jung Chae, Sung Bae Cho

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A humanoid robot has uncertain sensor data, and produces larger errors arising from the control process than other types of robot having wheels. The humanoid robot for providing service should not only generate proper behaviors to accomplish goals in unstable environments, but also consider flexible scalability to reflect demanding user's requests. We propose a control system based on planning-driven behavior selection network so as to generate autonomous behaviors of the robot rapidly and suitably. In this paper, the behavior selection network, one of behavior-based methods, is modularized considering sub-goals. The STRIPS planning makes a sequence of robot behaviors automatically by controlling the modules. The proposed system can control the robot to cope with the various environments, as well as to achieve goals according to the user's demand. Moreover, since the BSN and STRIPS planning structures are internally independent, the proposed system is scalable flexibly to increasing user requests. We confirm the usability of the proposed system by performing several test scenarios with NAO robot. Experiments show that the proposed system is able to make a behavioral sequence to fulfill goals appropriately, and can create behaviors of the robot in the various situations. We can also confirm an accuracy of 85.7% through applying the proposed system in the real world.

Original languageEnglish
Title of host publicationProceedings of the International Joint Conference on Neural Networks
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4244-4250
Number of pages7
ISBN (Electronic)9781479914845
DOIs
Publication statusPublished - 2014 Sep 3
Event2014 International Joint Conference on Neural Networks, IJCNN 2014 - Beijing, China
Duration: 2014 Jul 62014 Jul 11

Publication series

NameProceedings of the International Joint Conference on Neural Networks

Other

Other2014 International Joint Conference on Neural Networks, IJCNN 2014
CountryChina
CityBeijing
Period14/7/614/7/11

Fingerprint

Robots
Planning
Control systems
Scalability
Wheels
Sensors
Experiments

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence

Cite this

Chae, Y. J., & Cho, S. B. (2014). Planning-driven behavior selection network for controlling a humanoid robot. In Proceedings of the International Joint Conference on Neural Networks (pp. 4244-4250). [6889922] (Proceedings of the International Joint Conference on Neural Networks). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IJCNN.2014.6889922
Chae, Yu Jung ; Cho, Sung Bae. / Planning-driven behavior selection network for controlling a humanoid robot. Proceedings of the International Joint Conference on Neural Networks. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 4244-4250 (Proceedings of the International Joint Conference on Neural Networks).
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Chae, YJ & Cho, SB 2014, Planning-driven behavior selection network for controlling a humanoid robot. in Proceedings of the International Joint Conference on Neural Networks., 6889922, Proceedings of the International Joint Conference on Neural Networks, Institute of Electrical and Electronics Engineers Inc., pp. 4244-4250, 2014 International Joint Conference on Neural Networks, IJCNN 2014, Beijing, China, 14/7/6. https://doi.org/10.1109/IJCNN.2014.6889922

Planning-driven behavior selection network for controlling a humanoid robot. / Chae, Yu Jung; Cho, Sung Bae.

Proceedings of the International Joint Conference on Neural Networks. Institute of Electrical and Electronics Engineers Inc., 2014. p. 4244-4250 6889922 (Proceedings of the International Joint Conference on Neural Networks).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Chae YJ, Cho SB. Planning-driven behavior selection network for controlling a humanoid robot. In Proceedings of the International Joint Conference on Neural Networks. Institute of Electrical and Electronics Engineers Inc. 2014. p. 4244-4250. 6889922. (Proceedings of the International Joint Conference on Neural Networks). https://doi.org/10.1109/IJCNN.2014.6889922