Robot feeling formation based on image features

Abstract

Feeling and emotion are important to human being during his/her learning process, also valuable to be adopted into intelligent machines.This research presents a system which forms and expresses feelings of a robot.The vision information of robot is used and the environment features are categorized by a hierarchical SOM(Self-Organization Map). The proposed SOM here combines a feature map, an action map and a feeling map together, and the action policy of robot is modified by reinforcement learning rule, feeling degree is complicated by a dequantization algorithm. The experiments through computer simulation and an autonomous robot in the real environment showed robot’s feelings formation process and its emotinal actions.