An Architecture for Autonomously Controlling Robot with Embodiment in Real World

Abstract

In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated with sensing' and `dynamically change their plans when necessary'. We propose the use of a new concept, enabling robots to do these two things, for autonomously controlling mobile robots. We implemented our concept to make two experiments under static/dynamic environments. The results of these experiments show that our idea provides a way to adapt to dynamic changes of the environment in the real world.