Behavior description and control using behavior module for personal robot

This paper describes a module-based behavior selection architecture for a personal robot intended for a real world environment. We adopt the Emotional GrOunded architecture for a basis, and define and describe a behavior module and an associated tree structure for controlling many behavior modules. Also we discuss the requirements and approach for controlling the behavior module tree. Through experimentation and implementation on QRIO SDR4X-II, we confirm the feasibility and design of the behavior selection system.