Patent ID: 7813835

Claim:
A behavior control system for a robot apparatus that operates autonomously, comprising: a plurality of behavior description sections for describing motions of a machine body of said robot; an external environment recognition section for recognizing an external environment of said machine body; an internal state management section for managing an internal state of said robot in response to the recognized external environment and/or a result of execution of a behavior, and for managing emotions each of which is an index to the internal state in a hierarchical structure having a plurality of layers; and a behavior evaluation section for evaluating execution of behaviors described in said behavior description sections in response to the external environment and/or the internal state, wherein said behavior description sections are arranged in a tree structure form in accordance with implementation levels of the machine body motions, wherein said behavior evaluation section simultaneously and concurrently evaluates a plurality of ones of said behavior description sections from above to below in the tree structure, and wherein said internal state management section divides the emotions into a layer of primary emotions necessary for individual preservation and another layer of secondary emotions which vary depending upon excess/deficiency of the primary emotions, and further divides the primary emotions into low order primary emotions by innate reaction, high order primary emotions by homeostasis and primary emotions by association.