Interactive Behavior-Sensing Interface for mobile robot

In this study, first we propose Interactive Behavior-Sensing Interface (IBSI) as a novel concept for fusing and integrating multiple sensors and generating interaction between sensing strategy and behavior. Next we propose Network of IBSI (NetIBSI) as a new architecture that realizes behavior and sensing strategy that is defined by IBSI. The proposed concept can robustly adjust sensing methods and behavior according to the sensed internal/external information and the desired goal. NetIBSI is implemented onto a six-legged walking robot to demonstrate its advantages against a conventional scheme. In evaluation experiments, the robot is commanded to move forward in a field with obstacles while the number of simultaneously processable sensor signals is restricted to a number less than that of sensors. Results clearly show superior characteristics of NetIBSI over the conventional scheme.