Study of motor arbiter for a human-like robot

In development of a human-like robot, a motor control has to manage many motors simultaneously. This paper proposes the method of motor control which makes the human-like robot have facial expressions and behaviors similar to a human. It applied the behavior-based control and motor arbiter for performing continuous behaviors by synthesizing unit behaviors of an upper body and a facial expression. The behavior-based control selects the proper behavior and facial expression about a sensor input of a robot and an output of a high task. The motor arbiter exists between the behavior and the motor driver, and arbitrates interfered outputs generated from when one or more behaviors are executed concurrently. The behavior and facial expression of the human-like robot are expressive of smooth and continuous behaviors by using the behavior-based control and motor arbiter which synthesize several unit behaviors.