Self-Region Robot Control for Assertive Cooperative Actions
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Solution Overview
Problem
Conventional robots primarily perform passive actions and lack the capability to execute assertive actions due to the lack of consideration for the self-region of a person and the intention of the robot in cooperative tasks.
Innovation Solution
A control device that estimates a self-region of a partner based on preference information derived from observation sensor data and a free energy principle, determines a self-region of the robot considering both the partner's self-region and the robot's intention, and generates action information to control the robot's operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot performs passive actions to meet partner expectations, then the partner satisfaction is improved, but the robot's assertive action capability deteriorates
Solution Approach 1:
The robot dynamically adjusts its behavior between passive and assertive actions based on the determined self-region and partner's self-region. The control device switches between meeting partner expectations (passive) and asserting robot intentions (assertive) depending on spatial and contextual factors, enabling adaptable cooperative behavior.
Solution Approach 2:
The system changes the control parameter from purely reactive (meeting expectations) to proactive (asserting intentions) by introducing the self-region determination mechanism. This parameter change enables the robot to transition between passive and assertive action modes based on the calculated self-region boundaries.
2Adaptability or versatility
If the robot considers both partner's self-region and robot's intention, then the assertive action capability is improved, but the control complexity deteriorates
Solution Approach 1:
The control device performs preliminary determination of self-regions for both the robot and partner before executing cooperative actions. By pre-calculating the self-region boundaries based on robot intentions and partner characteristics, the system simplifies subsequent real-time control decisions during actual cooperation.
Solution Approach 2:
The self-region concept acts as an intermediary mechanism that mediates between the robot's intentions and the partner's self-region. This intermediary framework simplifies the complex interaction by providing a clear spatial boundary definition that guides assertive action generation.
3Measurement precision
If the robot estimates self-region based on preference information and observation data, then the accuracy of self-region determination is improved, but the information processing time deteriorates
Solution Approach 1:
The system performs preliminary estimation of the partner's self-region using preference information and observation sensor data before actual cooperative tasks. By pre-processing and storing this information, the system reduces real-time computation requirements during actual robot-partner cooperation.
Solution Approach 2:
The control device uses partial information (preference information and key observation data) rather than complete information processing to estimate self-regions. This partial action approach achieves sufficient accuracy for cooperative control while reducing information processing time and computational burden.
Data Source
AI summary
There is provided a control device including: a self-region estimation unit configured to estimate a self-region of a partner based on preference information indicating an observation that the partner is estimated to expect for a control target and the partner, the preference information being derived based on a predetermined principle and observation sensor data acquired from the partner and the control target, the partner being a person or an autonomous system, and the control target being an autonomous system; a self-region determination unit configured to determine a self-region of the control target based on preference information indicating an observation that the control target expects for the partner and the control target, which is derived based on the predetermined principle, using the self-region of the partner and an intention of the control target; and an action generation unit configured to generate action information for controlling an action of the control target based on the self-region of the control target, thereby controlling an operation of the control target.