TY - JOUR
T1 - DAC-h3: A proactive robot cognitive architecture to acquire and express knowledge about the world and the self
AU - Moulin-frier, Clement
AU - Fischer, Tobias
AU - Petit, Maxime
AU - Pointeau, Gregoire
AU - Puigbo, Jordi-ysard
AU - Pattacini, Ugo
AU - Low, Sock Ching
AU - Camilleri, Daniel
AU - Nguyen, Phuong
AU - Hoffmann, Matej
AU - Chang, Hyung Jin
AU - Zambelli, Martina
AU - Mealier, Anne-laure
AU - Damianou, Andreas
AU - Metta, Giorgio
AU - Prescott, Tony J.
AU - Demiris, Yiannis
AU - Dominey, Peter Ford
AU - Verschure, Paul F. M. J.
PY - 2017/9/18
Y1 - 2017/9/18
N2 - 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.
AB - 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.
KW - Cognitive Robotics
KW - Distributed Adaptive Control
KW - Human-Robot Interaction
KW - Symbol grounding
KW - Autobiographical memory
U2 - 10.1109/TCDS.2017.2754143
DO - 10.1109/TCDS.2017.2754143
M3 - Article
SN - 2379-8920
JO - IEEE Transactions on Cognitive and Developmental Systems
JF - IEEE Transactions on Cognitive and Developmental Systems
ER -