Complex behavior by means of dynamical systems for an anthropomorphic robot

✍ Scribed by T. Bergener; C. Bruckhoff; P. Dahm; H. Janßen; F. Joublin; R. Menzner; A. Steinhage; W. von Seelen

• Publisher: Elsevier Science
• Year: 1999
• Tongue: English
• Weight: 530 KB
• Volume: 12
• Category: Article
• ISSN: 0893-6080
• DOI: 10.1016/s0893-6080(99)00045-3

✦ Synopsis

We present an architecture to generate behavior for an anthropomorphic robot. The goal is to equip the robot with the capacity to interact with a human. Motivated by the research on biological systems, our basic assumption is that the behavior to perform determines the external and internal structure of the behaving system. We describe the anthropomorphic design of our robot and present a distributed control system that generates human-like navigation and manipulation behavior. As the mathematical framework for this purpose we have developed a control system which is entirely based on dynamical systems in the form of instantiated dynamics and neural fields. We also present a dynamic scheme for the behavioral organization based on competitive dynamics.