Basic Behavior Acquisition with Multisensor Integration for a Robot System

A robot system generally has several degrees of freedom of motions as well as different kinds of sensors. Basic behaviors are planned based on these sensors’ feedback. We take advantage of the Jacobian matrix to describe the differential relations between the sensor feedback and the motor motions. Hence, the relation between two sensors could be formulated by the two respective Jacobian matrices of both sensors to motors. Multisensor integration can, thus, be employed for better performance of the robot system. Experiments of basic behavior acquisition like gazing and posture control of a robot head are conducted. The performances of the two basic behaviors before and after multisensor integration are compared, which demonstrate the performance and robustness of the proposed multisensor integration method. © Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2009