Cognitive Computation

, Volume 3, Issue 4, pp 501–509

An Improved Internal Model of Autonomous Robots by a Psychological Approach

  • Takashi Kuremoto
  • Masanao Obayashi
  • Kunikazu Kobayashi
  • Liang-Bing Feng
Article

DOI: 10.1007/s12559-011-9102-7

Cite this article as:
Kuremoto, T., Obayashi, M., Kobayashi, K. et al. Cogn Comput (2011) 3: 501. doi:10.1007/s12559-011-9102-7

Abstract

To realize the autonomous exploration and the cooperation behaviors of robots in the unknown environment, an improved internal model to evoke robots actions using a psychological theory of Russell was proposed in our previous work. The improved model is based on an affect-action model proposed by Ide and Nozawa group whose basic principle is to control the movement of robots by the degrees of “pleasure” and “arousal” of one’s own and the observation of others. To overcome the phenomena of “deadlock” and adapt to the complicated environment, “curiosity” factor is introduced into the basic model, and the action function is improved to be dynamically. This paper provides experimental comparison between the conventional model and our improved model with goal-exploration simulations. The results showed that only robots with the improved model moved dynamically and successfully reached at multiple goal areas avoiding local traps and obstacles in the complicated environment.

Keywords

Autonomous robotSwarm robotsInternal modelEmotionCuriosity

Copyright information

© Springer Science+Business Media, LLC 2011

Authors and Affiliations

  • Takashi Kuremoto
    • 1
  • Masanao Obayashi
    • 1
  • Kunikazu Kobayashi
    • 1
  • Liang-Bing Feng
    • 1
  1. 1.Graduate School of Science and EngineeringYamaguchi UniversityUbe, YamaguchiJapan