CN102354128A - Circuit for emotional simulation of robot and control method thereof - Google Patents

Circuit for emotional simulation of robot and control method thereof Download PDF

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Publication number
CN102354128A
CN102354128A CN2011101474054A CN201110147405A CN102354128A CN 102354128 A CN102354128 A CN 102354128A CN 2011101474054 A CN2011101474054 A CN 2011101474054A CN 201110147405 A CN201110147405 A CN 201110147405A CN 102354128 A CN102354128 A CN 102354128A
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robot
rational
perceptual
value
memristor
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CN102354128B (en
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黄如
杨庚雨
张丽杰
叶乐
谭胜虎
蔡一茂
邹积彬
唐昱
秦石强
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Peking University
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Peking University
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Abstract

The invention discloses a circuit for emotional simulation of a robot and a control method thereof. The circuit disclosed by the invention comprises a microprocessor, a memorizer and an adder circuit, wherein the microprocessor is used for processing information required for performing the emotional simulation; the memorizer is used for storing the experience cognition to objects, and as an experience base, the memorizer comprises a perceptual storage area and a rational storage area; the adder circuit is used for performing weighting calculation on the perceptual judgment and the rational judgment of the robot to realize the emotional simulation in the manner of output voltage, wherein, the adder circuit is improved through a memristor, and a resistor is replaced by the memristor; as the resistance value of the memristor can be changed under the control of external voltage, the weighting calculation can be performed on the perceptual judgment and the rational judgment of the robot to obtain the output voltage, and different reactions of the robot on the objects are represented by different output voltage, thereby, the emotional simulation of the robot is realized in the manner of the output voltage.

Description

A kind of circuit and control method thereof that is used for robot emotion simulation
Technical field
The present invention relates to the circuit of robot emotion simulation, relate in particular to a kind of circuit and control method thereof that realizes robot emotion simulation about the neuron circuit control that utilizes memristor to realize.
Background technology
In the process of informationized society high speed development, intelligent robot is the high-end product and typical case's representative of information science progress.It has played irreplaceable effect at numerous areas such as industry manufacturing, robotization, Medical Devices, military applications, Science Explorationss.Along with improving constantly of the level of informatization, people require also to increase for robot thereupon, are constantly developed to intellectuality by precision optical machinery control.The existing robots majority is based on that pre-set programs operates, and in the embodiment of human emotion's simulation and learning ability, can't satisfy people's requirement preferably, and this makes robot in the emotion simulation with need have breakthrough in study.
Summary of the invention
One object of the present invention is to provide a kind of circuit that is used for robot emotion simulation.
Circuit of the present invention comprises: microprocessor, the information that need carry out the emotion simulation in order to processing; Storer, in order to the experience understanding of storage for things, as the experience storehouse, it comprises perceptual memory block and rational memory block; Adder circuit carries out weighted calculation in order to the perception of robot is judged with rational judgment, thereby realizes that with the form of output voltage emotion simulates.
Storer is stored the experience of robot to things with the mode of numerical value, and perceptual memory block stored is represented the perceptual experience value of perceptual knowledge, and rational storage area stores is represented the rational empirical value of rational knowledge.
Adder circuit improves through memristor; Replace resistance with memristor, the memristor that receives the control of perceptual experience value to represent perception to judge is called perceptual memristor, accepts the control of sex experience value and represents the memristor of rational judgment to be called rational memristor; Because memristor can alive outside control change its resistance down; Can make that the weight of weight and rational input voltage of perceptual input voltage is able to programme, therefore can the perception of robot be judged and weighted calculation is carried out in rational judgment, obtain output voltage; Represent the different reaction of robot with different output voltage, thereby realize the emotion simulation of robot with the form of output voltage to things.
Another object of the present invention is to provide this circuit to be used for the control method of emotion simulation.
Foregoing circuit is used to have the emotion simulation of the robot of perceptron and hub processor, and its control method is following:
1) after the perceptron of robot receives external information, is the electric signal that robot can discern and handle, then this electric signal is transferred to hub processor this information translation;
2) hub processor will carry out pre-service from the electric signal of perceptron, extract the information that need carry out the emotion simulation, and this information that need carry out the emotion simulation is input to the microprocessor that carries out the emotion simulation;
3) the microprocessor information of carrying out emotion simulation is as required sought corresponding or similar experience from storer; Read the perceptual experience value of representing perceptual knowledge and the rational empirical value of representing rational knowledge from perceptual memory block and rational memory block respectively; If directly not corresponding or similar experience is then opened up this information of untapped cell stores respectively in the perceptual memory block of storer and rational memory block;
4) microprocessor is according to perceptual experience value and rational empirical value; To be used to represent the resistance M1 of the perceptual perceptual memristor of judging respectively accordingly and be used to represent the resistance M2 of the rational memristor of rational judgment to be set to corresponding value, and give corresponding value with rational input voltage vin 2 corresponding perceptual input voltage vin 1;
5) the output voltage V o through the improved adder circuit of memristor satisfies: Vo=Vin1Rf/M1+Vin2Rf/M2, realize the emotion simulation of robot with this output voltage.
Control method of the present invention further comprises the method for change robot to things understanding.Foregoing circuit can be made amendment as the storage data as empirical value of the store memory storage in experience storehouse to robot equally; This can artificially control and write; Also can be robot make after receiving external information to the reaction corresponding to this things experience, and method is following:
If artificial control writes, the storage data (empirical value) that then can directly revise needs through the peripheral circuit of control store directly made amendment, and method is identical with the method for the interior numerical value of modification storer;
If robot after receiving external information, make to reaction corresponding to this things experience, then its process is following:
1) to receive behind the external information this information translation be the electric signal that robot can discern and handle to the perceptron of robot, then this electric signal is transferred to hub processor and handles;
2) hub processor extracts the information that need carry out the emotion simulation, then this information that need carry out the emotion simulation is input to emotion simulation microprocessor;
3) microprocessor judges and extracting need carry out being used for revising the information as storage data in the storer in experience storehouse in the information of emotion simulation, according to the requirement of this information the storage data that need make amendment accordingly in the storer is made amendment then.
Description of drawings
Fig. 1 is the synoptic diagram that is used for the circuit of robot emotion simulation.
Fig. 2 is the process flow diagram that is used for the circuit control method of robot emotion simulation.
Embodiment
Bottom combines accompanying drawing and specific embodiment that the present invention is elaborated, and specifically provides the method that the control of robot emotion realizes under a kind of situation, but the scope that does not limit the present invention in any way.
For human; No matter be perception or rational judgement; On its external expression-form the same (for example the someone is smiled and perhaps glare at); So the present invention's behavior that robot is all is defined as rational behavior, just before output, weighted calculation is carried out in perception judgement and rational judgment, finally obtain the output voltage of emotion simulation.The emotion simulation of robot of the present invention is as prerequisite.
The discovery of memristor is basic for the device that physics realization is provided of robot learning to a great extent; With weighted calculation being carried out in the perception judgement and the rational judgment of robot through the improved adder circuit of memristor; Finally can obtain the output of emotion simulation, the present invention is an output voltage values.As shown in Figure 1, the circuit that is used for robot emotion simulation comprises: microprocessor 1 is used to handle the information of carrying out the emotion simulation; Storer 2, in order to the experience understanding of storage for things, as the experience storehouse, it comprises perceptual memory block and rational memory block, stores the perceptual experience value of representing perceptual knowledge and the rational empirical value of representing rational knowledge with the mode of numerical value respectively; Through the improved adder circuit of memristor; Because memristor can alive outside control change its resistance value down; Expression formula Vo=Vin1Rf/M1+Vin2Rf/M2 according to output voltage V o can know; Substitute without the resistance in the improved totalizer with memristor; Can make that the weight Rf/M2 of weight Rf/M1 and rational input voltage vin 2 of perceptual input voltage vin 1 is able to programme, will pass through the improved adder circuit of memristor and be used for the perception of robot is judged and weighted calculation is carried out in rational judgment, obtain output voltage; Represent the different reaction of robot with different output voltage, thereby realize the emotion simulation of robot with the form of output voltage to things.
With such a case is the concrete approach that example is explained above-mentioned emotion mimic channel: the emotion of robot of the present invention is divided into two kinds of attitudes: like and dislike; Difference according to the degree of attitude is divided into four kinds of reactions: the smile of attitude and embracing of doubling are liked in expression, expression dislike attitude ignore and double glare at.Robot runs into a people; This people is a toad of robot from perceptual aspect; Be one from rational aspect and respected and cup of tea by the people, but robot dislikes this people's attitude generally, the value representation control robot of output voltage is to this people's attitude; Embodiments of the invention are just listed out four kinds of different reactions for the sake of simplicity, can be divided into more kinds of different reactions according to people's actual conditions.
At first the resistance of each resistance in the circuit shown in Figure 1 is once set: Rf=10k Ω, the Standard resistance range of memristor are 1k Ω~100k Ω.The control of input voltage vin 1 and Vin2 and output voltage V o can have two kinds of different selections.First kind, with input voltage and output voltage on the occasion of representing respectively that with negative value the attitude liking, dislike, the height of the absolute value of voltage of output voltage values represent the degree height of corresponding attitude, the absolute value that can get input voltage is 0.2V.The reaction of the interval pairing robot of the scope of output voltage is: embrace---Vo>2V, smile---and 0V<Vo≤2V, ignore----2V<Vo≤0V, glare at---Vo≤-2V.Second kind, input Vin1, Vin2 all adopt 0.2V voltage, and the reaction of the pairing robot of scope of output voltage is: embrace---and Vo>3V, smile---2V<Vo≤3V, ignore---1V<Vo≤3V, glare at---Vo≤1V.Be divided into perceptual memory block and rational memory block in the storer, be respectively applied for the stored in form of numerical value attitude and degree thereof for the perceptual knowledge and the rational knowledge of specific matters.Corresponding to the method that above-mentioned two kinds of voltages are set, storing value can have two kinds of methods to the setting of the resistance of memristor.Corresponding to first kind of voltage setting method; The positive and negative expression respectively of storage availability value is liked and is disliked; And set the positive and negative of Vin1, Vin2 with this, set the resistance of corresponding memristor with the size of storing value, such as reading a numerical value in the perceptual memory block--5; The perceptual input voltage vin 1 that the expression perception is set in expression is-0.2V that the M1 resistance is set at 1k Ω.Corresponding to second kind of voltage setting method; Because input voltage is positive voltage; Therefore the positive negative reaction of storing value is that the corresponding memristor resistance that needs to set its resistance intermediate value (being 10k Ω in this example) of comparing is big (storing value for just) still little (storing value is to bear); The size of absolute value is represented the amount that departs from, and such as reading a numerical value-1 in the rational memory block, the resistance that the rational memristor M2 that represent rational faculty is set in expression is set at 10-1=9k Ω.Certainly only be to provide corresponding storing value method for expressing here to above-mentioned two kinds of voltage setting methods; Storing value is not limited in above-mentioned two kinds of methods to the establishing method of the resistance of memristor and the value of pairing memristor resistance, and any coding method without prejudice to this circuit operation thought all is feasible.
Above-mentioned setting is for the ease of the selected particular value of the explanation of the embodiment of the invention; Do not represent all situations of circuit of the present invention; Can set the resistance size of the memristor of resistance, voltage setting way and interval division, the method for expressing of setting storing value and correspondence during practical operation according to specific requirement flexibly, all various situation all belong to this patent protection domain.
Choose aforementioned first kind of voltage setting method and storing value below and represent way, utilize the emotion mimic channel to carry out the described example of preamble.When that man-hour described in the preamble example is run into by robot; Perceptron receives this people's information; And this information is delivered to hub processor carry out pre-service; Extract the information that to carry out the emotion simulation, then this is inputed to the microprocessor that carries out the emotion simulation through the information that pretreated needs carry out the emotion simulation.The information that microprocessor carries out emotion simulation is as required sought corresponding or similar experience and (can be divided by memory address from storer; Also can divide according to other modes), read corresponding perceptual storing value and rational storing value respectively in the perceptual memory block and the rational memory block of storer.Since robot run into to be one be a toad of robot from perceptual knowledge, is one from rational knowledge and receives very much the people to respect the people with cup of tea, but robot dislikes this people's attitude generally; Therefore should to satisfy perceptual storing value be negative value to storing value, rational storing value be on the occasion of, the absolute value of the two is that perceptual storing value is greater than rational storing value; Therefore can suppose that the perceptual storing value that reads is-5, rational storing value is 1, the meaning of representing according to aforementioned storing value; Microprocessor is set at 1k Ω with phase M1; M2 is set at 5k Ω, sets input voltage vin 1=-0.2V, Vin2=0.2V at input end; Output voltage V o=Vin1Rf/M1+Vin2Rf/M2=-1.6V then; Drop on-2V<Vo≤0V is interval, and according to aforementioned definitions, the reaction that this output voltage can control robot be taked this people to ignore under the effect of back-end circuit is to respond.
What should explain at last is: above embodiment is only in order to technical scheme of the present invention to be described but not limit it; Although the present invention has been carried out detailed explanation with reference to preferred embodiment; Those of ordinary skill in the art is to be understood that: it still can make amendment or be equal to replacement technical scheme of the present invention, also can not make amended technical scheme break away from the spirit and the scope of technical scheme of the present invention and these are revised or be equal to replacement.

Claims (8)

1. one kind is used for the circuit that the robot emotion is simulated, and robot has perceptron and hub processor, it is characterized in that, the said robot emotion mimic channel that is used for comprises: a microprocessor, the information that need carry out the emotion simulation in order to processing; One storer in order to the experience understanding of storage for things, comprises perceptual memory block and rational memory block; And an adder circuit, in order to being judged with rational judgment, the perception of robot carries out weighted calculation, realize that with the form of output voltage emotion simulates.
2. circuit as claimed in claim 1; It is characterized in that; Said storer is stored the experience of robot to things as the experience storehouse with the mode of numerical value; Said perceptual memory block stored is represented the perceptual experience value of perceptual knowledge, and said rational storage area stores is represented the rational empirical value of rational knowledge.
3. circuit as claimed in claim 1; It is characterized in that; Said adder circuit replaces resistance with memristor, receives perceptual experience value control represent memristor that perception judges as perceptual memristor, accept the sex experience value control represent rational judgment memristor as rational memristor.
4. a control method that is used for robot emotion mimic channel is characterized in that, may further comprise the steps:
1) after the perceptron of robot receives external information, is the electric signal that robot can discern and handle, then this electric signal is transferred to hub processor this information translation;
2) hub processor will carry out pre-service from the electric signal of perceptron, extract the information that need carry out the emotion simulation, and this information that need carry out the emotion simulation is input to the microprocessor that carries out the emotion simulation;
3) the microprocessor information of carrying out emotion simulation is as required sought corresponding or similar experience from storer; Read the perceptual experience value of representing perceptual knowledge and the rational empirical value of representing rational knowledge from perceptual memory block and rational memory block respectively; If directly not corresponding or similar experience is then opened up this information of untapped cell stores respectively in the perceptual memory block of storer and rational memory block;
4) microprocessor is according to perceptual experience value and rational empirical value; To be used to represent the resistance M1 of the perceptual perceptual memristor of judging respectively accordingly and be used to represent the resistance M2 of the rational memristor of rational judgment to be set to corresponding value, and give corresponding value with rational input voltage vin 2 corresponding perceptual input voltage vin 1;
5) the output voltage V o through the improved adder circuit of memristor satisfies: Vo=Vin1Rf/M1+Vin2Rf/M2, realize the emotion simulation of robot with this output voltage.
5. control method as claimed in claim 4 is characterized in that, sets the resistance M1 of memristor and the method for M2 and input voltage vin 1 and Vin2 and may further comprise the steps:
1) as required the robot that carries out the emotion simulation is divided into some kinds of different reactions for extraneous things;
2) correspondingly set between the span and dividing regions of output voltage V o according to the division of reaction, a kind of interval of output voltage is corresponding to a kind of reaction;
3) storing value of correspondingly setting storer according to the value and the method between dividing regions of output voltage is to the value of establishing method and the Vin1 and the Vin2 of the resistance of memristor.
6. control method as claimed in claim 4; It is characterized in that; Further comprise changing the method for robot to things understanding, to robot as the experience storehouse the storage data as empirical value of store memory storage make amendment, two kinds of approach are arranged: a) artificial control writes; B) robot after receiving external information, make to reaction corresponding to this things experience.
7. control method as claimed in claim 6 is characterized in that, wherein approach is that the storage data of directly through the peripheral circuit of control store needs being revised are directly made amendment a), and method is identical with the method for revising the interior numerical value of storer.
8. control method as claimed in claim 6 is characterized in that, wherein approach b) may further comprise the steps:
1) to receive behind the external information this information translation be the electric signal that robot can discern and handle to the perceptron of robot, then this electric signal is transferred to hub processor and handles;
2) hub processor extracts the information that need carry out the emotion simulation, and this information that need carry out the emotion simulation is input to emotion simulation microprocessor;
3) microprocessor judges and extracting need carry out being used for revising the information as storage data in the storer in experience storehouse in the information of emotion simulation, according to the requirement of this information the storage data that need make amendment accordingly in the storer is made amendment then.
CN2011101474054A 2011-06-02 2011-06-02 Circuit for emotional simulation of robot and control method thereof Expired - Fee Related CN102354128B (en)

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CN102723112A (en) * 2012-06-08 2012-10-10 西南大学 Q learning system based on memristor intersection array
CN103580668A (en) * 2013-10-28 2014-02-12 华中科技大学 Associative memory circuit based on memory resistor
CN104539280A (en) * 2014-11-23 2015-04-22 华中科技大学 Circuit for realizing multi-layer identification based on memory resistor and control method of circuit
CN104916313A (en) * 2015-06-16 2015-09-16 清华大学 Neural network synapse structure based on memristive devices and synaptic weight building method
CN107924482A (en) * 2015-06-17 2018-04-17 情感爱思比株式会社 Emotional control system, system and program
CN110799993A (en) * 2017-06-12 2020-02-14 Aka智能株式会社 Method for determining computer emotion
CN110842915A (en) * 2019-10-18 2020-02-28 南京大学 Robot control system and method based on memristor cross array

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CN101604204A (en) * 2009-07-09 2009-12-16 北京科技大学 Distributed cognitive technology for intelligent emotional robot

Cited By (15)

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Publication number Priority date Publication date Assignee Title
CN102723112B (en) * 2012-06-08 2015-06-17 西南大学 Q learning system based on memristor intersection array
CN102723112A (en) * 2012-06-08 2012-10-10 西南大学 Q learning system based on memristor intersection array
CN103580668B (en) * 2013-10-28 2016-04-20 华中科技大学 A kind of associative memory circuit based on memristor
WO2015062112A1 (en) * 2013-10-28 2015-05-07 华中科技大学 Associative memory circuit based on memory resistor
CN103580668A (en) * 2013-10-28 2014-02-12 华中科技大学 Associative memory circuit based on memory resistor
CN104539280A (en) * 2014-11-23 2015-04-22 华中科技大学 Circuit for realizing multi-layer identification based on memory resistor and control method of circuit
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CN104539280B (en) * 2014-11-23 2017-10-27 华中科技大学 A kind of circuit and its control method that multilayer identification is realized based on memristor
CN104916313A (en) * 2015-06-16 2015-09-16 清华大学 Neural network synapse structure based on memristive devices and synaptic weight building method
CN104916313B (en) * 2015-06-16 2019-06-25 北京灵汐科技有限公司 Neural network synaptic structure and synapse weight construction method based on memory resistor
CN107924482A (en) * 2015-06-17 2018-04-17 情感爱思比株式会社 Emotional control system, system and program
CN110799993A (en) * 2017-06-12 2020-02-14 Aka智能株式会社 Method for determining computer emotion
CN110799993B (en) * 2017-06-12 2023-08-15 Aka人工智能株式会社 Method for determining emotion of computer
CN110842915A (en) * 2019-10-18 2020-02-28 南京大学 Robot control system and method based on memristor cross array
WO2021072817A1 (en) * 2019-10-18 2021-04-22 南京大学 Memristor cross array-based robot control system and method

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