DAC-h3: A Proactive Robot Cognitive Architecture to Acquire and Express Knowledge About the World and the Self
File(s)
Accepted version
Author(s)
Type
Journal Article
Abstract
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 the human and the 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.
Date Issued
2018-12-01
Date Acceptance
2017-08-09
Citation
IEEE Transactions on Cognitive and Developmental Systems, 2018, 10 (4), pp.1005-1022
ISSN
2379-8920
Publisher
Institute of Electrical and Electronics Engineers
Start Page
1005
End Page
1022
Journal / Book Title
IEEE Transactions on Cognitive and Developmental Systems
Volume
10
Issue
4
Copyright Statement
© 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor
Commission of the European Communities
Identifier
http://ieeexplore.ieee.org/document/8039505/
Grant Number
612139
Subjects
Cognitive Robotics
Distributed Adaptive Control
Human-Robot Interaction
Symbol Grounding
Autobiographical Memory
Publication Status
Published
Date Publish Online
2017-09-18