Map generation based on the interaction between robot body and its surrounding environment

This paper presents a method for map generation based on the interaction between a robot body and its surrounding environment. While a robot moves in the environment, the robot interacts with its surrounding environment. If the effect of the environment on the robot changes, such interactions also change. By observing the robot's body, our method detects such change of the interaction and generates a description representing the type of change and the location where such change is observed. In the current implementation, we assume that there are two types of the change in the interaction. The real robot experiments are conducted in order to show the validity of our method.