Searching Behavior of a Simple Manipulator Only with Sense of Touch Generated by Probabilistic Flow Control

Abstract

Various behaviors of creatures emerge from the lack of information. We generate search behaviors of a simple manipulator by the probabilistic flow control (PFC) method. Though PFC uses a motion planning result without consideration of the uncertainty for decision making, it generates some kinds of search behavior by probabilistic calculation. In the simulation of this paper, we assume a two-link manipulator which can perceive the existence of an object with its tactile sense. This manipulator is given a task to search a rod fixed in an environment. In the task, the manipulator has shown some kinds of search behavior.