DAC-h3: a proactive robot cognitive architecture to acquire and express knowledge about the world and the self
This paper introduces a cognitive architecture for a humanoid robot to engage in a proactive, mixed-initiative exploration and manipulation of its environment, where the initiative can originate from both human and robot. The framework, based on a biologically grounded theory of the brain and mind,...
| Autores: | , , , , , , , , , , , , , , , , , |
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| Formato: | artículo |
| Estado: | Versión aceptada para publicación |
| Fecha de publicación: | 2018 |
| País: | España |
| Recursos: | Universitat Pompeu Fabra |
| Repositorio: | Repositorio Digital de la UPF |
| OAI Identifier: | oai:repositori.upf.edu:10230/47997 |
| Acesso em linha: | http://hdl.handle.net/10230/47997 http://dx.doi.org/10.1109/TCDS.2017.2754143 |
| Access Level: | acceso abierto |
| Palavra-chave: | Autobiographical memory (ABM) Cognitive robotics Distributed adaptive control (DAC) Human–robot interaction (HRI) Symbol grounding |
| Resumo: | This paper introduces a cognitive architecture for a humanoid robot to engage in a proactive, mixed-initiative exploration and manipulation of its environment, where the initiative can originate from both human and robot. The framework, based on a biologically grounded theory of the brain and mind, integrates a reactive interaction engine, a number of state-of-the-art perceptual and motor learning algorithms, as well as planning abilities and an autobiographical memory. The architecture as a whole drives the robot behavior to solve the symbol grounding problem, acquire language capabilities, execute goal-oriented behavior, and express a verbal narrative of its own experience in the world. We validate our approach in human-robot interaction experiments with the iCub humanoid robot, showing that the proposed cognitive architecture can be applied in real time within a realistic scenario and that it can be used with naive users. |
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