Motion generation of the autonomous robot based on body structure

Aims to investigate the intelligence which can make robots adapt to the human environment. The paper points out the problems of the behavior-based robot, and proposes the methods which can generate whole body motions based on body structure and integrates the reflection motions to make the behaviors continuous. The motion performances are compared in two kinds of environments, such as a dynamic environment and a static environment, by using a simulator of the autonomous robot WAMOEBA-2Ri developed in this research. Finally, we show that the integration parameters of the proposed method reflect the body structure of the robot and environmental structures.