Knowledge-Based Autonomous Behavior Control of Robots in a Symbiotic Human-Robot System

In order to implement autonomous behavior control of robots according to human requests in a complex symbiotic human-robot system, this paper proposes a novel knowledge-based intelligent control method. In this method, a knowledge model is first defined by means of frame-based knowledge representation. It contains various frames for describing different users, features of multiple robots as well as robot behaviors for human-robot communication and performing various tasks. According to this knowledge model, autonomous behavior control of robots in a symbiotic human- robot system can be implemented by means of a software platform, called Software Platform for Agents and Knowledge Management (SPAK). In this paper, the effectiveness of the proposed method is demonstrated by experiment using actual robots.