From Automation To Autonomy
Kentarou Kurashige, Yukiko Onoue, Toshio Fukuda · BiblioBoard Library Catalog (Open Research Library) · 2009
Our goal is to realize a system which keeps adapting various tasks and environment with universal mechanism which is independent of concrete tasks and environment. In this chapter, we proposed the concept of universal evaluation as a kind of universal mechanism. Here, we showed two experiments as instances. One is the study using sense of pain as universal evaluation. With this universal evaluation, the robot could avoid being injured by unexpected load. Another is the study to create evaluation functions for concrete environment by universal evaluation. We showed recursive algorithm to create evaluation functions by existing evaluation functions. And we used evaluation about energy on robot as the beginning and universal evaluation. We showed the robot could take more proper action as it created evaluation functions by proposed algorithm. As the future works, we try to find and propose better universal mechanisms. For example, we consider that a rule how to interact environment can be used as a universal mechanism. As the first step of this, we have tried to create evaluation functions for concrete task and environment with an interaction rule which is defined by variance of sensor data (Kurashige, 2007). By importing a concept of universal mechanism into learning method, we try to divide between how to design a robot and how to use a robot, and we try to realize a system which can get necessary knowledge whenever it is necessary only with an operation of its information. We think that is next step for autonomy.