| 1. |
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| 2. |
- Herrera, Carlos, et al.
(författare)
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Behavioral Flexibility : An Emotion Based Approach
- 2007
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Ingår i: Computational and Ambient Intelligence. - Berlin, Heidelberg : Springer. - 9783540730064 - 9783540730071 ; , s. 798-805
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Konferensbidrag (refereegranskat)abstract
- In this paper we suggest a biologically inspired approach to flexible behavior through emotion modeling. We consider emotion to emerge from relational interaction of body, nervous system and world, through sensory-motor attunement of internal parameters to concern-relevant relationships. We interpret such relationships with the notions of collective variable and control parameters. We introduce a simple robotic implementation of this model of appraisal, following the techniques of evolutionary neuro-robotics.
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| 3. |
- Herrera, Carlos, et al.
(författare)
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The Role of Internal States in the Emergence of Motivation and Preference : A Robotics Approach
- 2007
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Ingår i: Affective Computing and Intelligent Interaction. - Berlin, Heidelberg : Springer Berlin/Heidelberg. - 9783540748885 - 9783540748892 ; , s. 798-805
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Konferensbidrag (refereegranskat)abstract
- In order to explain and model emotion we need to attend to the role internal states play in the generation of behavior. We argue that motivational and perceptual roles emerge from the dynamical interaction between physiological processes, sensory-motor processes and the environment. We investigate two aspects inherent to emotion appraisal and response which rely on physiological process: the ability to categorize relations with the environment and to modulate response generating different action tendencies.
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| 4. |
- Kiryazov, Kiril, et al.
(författare)
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From the virtual to the robotic : Bringing emoting and appraising agents into reality
- 2011
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Ingår i: Proceedings of the 2nd European Future Technologies Conference and Exhibition 2011 (FET 11). - : Elsevier. ; , s. 241-243
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Konferensbidrag (refereegranskat)abstract
- - A classical appraisal model of emotions extended with artificial metabolic mechanisms is presented. The new architecture is based on two existing models: WASABI and a model of Microbial Fuel Cell technology. WASABI is a top-down cognitive model which is implemented in several virtual world applications such as a museum guide. Microbial fuel cells provide energy for the robot through digesting food. The presented work is a first step towards imbuing a physical robot with emotions of human-like complexity. Classically, such integration has only been attempted in the virtual domain. The research aim is to study the embodied appraisal theory and to show the role of the body in the emotion mechanisms. Some initial tests of the architecture with humanoid NAO robot in a minimalistic scenario are presented. © Selection and peer-review under responsibility of FET11 conference organizers and published by Elsevier B.V.
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| 5. |
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| 6. |
- Lowe, Robert, et al.
(författare)
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Grounding Motivation in Energy Autonomy : A Study of Artificial Metabolism Constrained Robot Dynamics
- 2010
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Ingår i: Artificial Life XII. - Cambridge, Massachusetts, London, England : MIT Press. - 9780262290753 - 0262290758 ; , s. 725-732
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Konferensbidrag (refereegranskat)abstract
- We present an evolutionary robotics investigation into the metabolism constrained homeostatic dynamics of a simulated robot. Unlike existing research that has focused on either energy or motivation autonomy the robot described here is considered in terms of energy-motivation autonomy. This stipulation is made according to a requirement of autonomous systems to spatiotemporally integrate environmental and physiological sensed information. In our experiment, the latter is generated by a simulated artificial metabolism (a microbial fuel cell batch) and its integration with the former is determined by an E-GasNet-active vision interface. The investigation centres on robot performance in a three-dimensional simulator on a stereotyped two-resource problem. Motivationlike states emerge according to periodic dynamics identifiable for two viable sensorimotor strategies. Robot adaptivity is found to be sensitive to experimenter-manipulated deviations from evolved metabolic constraints. Deviations detrimentally affect the viability of cognitive (anticipatory) capacities even where constraints are significantly lessened. These results support the hypothesis that grounding motivationally autonomous robots is critical to adaptivity and cognition.
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| 7. |
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| 8. |
- Montebelli, Alberto, et al.
(författare)
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An Analysis of Behavioral Attractor Dynamics
- 2007
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Ingår i: 9th European Conference, ECAL 2007. - Berlin, Heidelberg : Springer Berlin/Heidelberg. - 9783540749127 - 9783540749134 ; , s. 213-222
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Konferensbidrag (refereegranskat)abstract
- The interaction of brain, body and environment can result in complex behavior with rich dynamics even for relatively simple agents. Such dynamics are, however, often notoriously difficult to analyze. In this paper we explore the case of a simple simulated robotic agent, equipped with a reactive neurocontroller and an energy level, that the agent has been evolved to re-charge. A dynamical systems analysis, shows that a non-neural internal state (energy level), despite its simplicity, dynamically modulates the agent-environment system’s behavioral attractors, such that the robot’s behavioral repertoire is continually adapted to its current situation and energy level.
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| 9. |
- Montebelli, Alberto, et al.
(författare)
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An Oxygen-Diffusion Cathode MFC Model for Simulation of Energy-Autonomous Robots
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Annan publikation (övrigt vetenskapligt/konstnärligt)abstract
- We present a macroscopic mathematical model of energy generation dynamics in oxygen-diffusion cathode microbial fuel cells (ODC-MFCs). The model is phenomenologically derived on the basis of actual experimental data, obtained by a battery of ODC-MFCs connected in series that supplied energy to a physical robot prototype. Due to its limited computational overhead, the simple set of equations is particularly suitable for the study of robot adaptive behavior under naturalistic energyconstraints in computer simulations, and as a tool for the design and optimization of stack configurations of large sets of MFCs.
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| 10. |
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| 11. |
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| 12. |
- Montebelli, Alberto, et al.
(författare)
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Embodied anticipation for swift re-adaptation in neurocomputational cognitive architectures for robotic agents
- 2009
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Ingår i: Proceedings of the 31th Annual Conference of the Cognitive Science Society. - Austin : Cognitive Science Society, Inc.. - 9780976831853 ; , s. 3082-3087
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Konferensbidrag (refereegranskat)abstract
- The coupling between a body (in an extended sense that encompasses both neural and non-neural dynamics) and its environment is here conceived as a critical substrate for cognition. We propose and discuss the plan for a neurocomputational cognitive architecture for robotic agents, so far implemented in its minimalist form for supporting the behavior of a simple simulated agent. A non-neural internal bodily mechanism (crucially characterized by a time scale much slower than the normal sensory-motor interactions of the robot with its environment) extends the cognitive potential of a system composed of purely reactive parts with a dynamic action selection mechanism and the capacity to integrate information over time. The same non-neural mechanism is the foundation for a novel, minimalist anticipatory architecture, capable of swift re-adaptation to related yet novel tasks.
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| 13. |
- Montebelli, Alberto, et al.
(författare)
-
Embodied anticipation in neurocomputational cognitive architectures for robotic agents
- 2009
-
Konferensbidrag (refereegranskat)abstract
- The coupling between a body (in an extended sense that encompasses both neural and non-neural dynamics) and its environment is here conceived as a critical substrate for cognition. We propose and discuss the plan for a neurocomputational cognitive architecture for robotic agents, so far implemented in its minimal form for supporting the behavior of a simple simulated robotic agent. A non-neural internal bodily mechanism (crucially characterized by a time scale much slower than the normal sensory-motor interactions of the robot with its environment) extends the cognitive potential of a system composed of purely reactive parts with a dynamic action selection mechanism and the capacity to integrate information over time. The same non-neural mechanism is the foundation for a novel, minimalist anticipatory architecture, implementing our bodily-anticipation hypothesis and capable of swift readaptation to related yet novel tasks.1
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| 14. |
- Montebelli, Alberto, et al.
(författare)
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Energy Constraints and Behavioral Complexity : The Case of a Robot with a Living Core
- 2011
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Ingår i: Complex Adaptive Systems: Energy, Information, and Intelligence. - Palo Alto, Calif. : AAAI Press. - 9781577355472 - 1577355474 ; , s. 109-116
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Konferensbidrag (refereegranskat)abstract
- The new scenarios of contemporary adaptive robotics seem to suggest a transformation of the traditional methods. In the search for new approaches to the control of adaptive autonomous systems, the mind becomes a fundamental source of inspiration. In this paper we anticipate, through the use of simulation, the cognitive and behavioral properties that emerge from a recent prototype robotic platform, EcoBot, a family of bio-mechatronic symbionts provided with an 'artificial metabolism', that has been under physical development during recent years. Its energy reliance on a biological component and the consequent limitation of its supplied energy determine a special kind of dynamic coupling between the robot and its environment. Rather than just an obstacle, energetic constraints become the opportunity for the development of a rich set of behavioral and cognitive properties.
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| 15. |
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| 16. |
- Montebelli, Alberto, et al.
(författare)
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Microbial fuel cell driven behavioural dynamics in robot simulations
- 2010
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Ingår i: Artificial Life XII. - Cambridge, Massachusetts : MIT Press. - 9780262290753 - 0262290758 ; , s. 749-756
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Konferensbidrag (refereegranskat)abstract
- With the present study we report the first application of a recently proposed model for realistic microbial fuel cells (MFCs) energy generation dynamics, suitable for robotic simulations with minimal and extremely limited computational overhead. A simulated agent was adapted in order to engage in a viable interaction with its environment. It achieved energy autonomy by maintaining viable levels of the critical variables of MFCs, namely cathodic hydration and anodic substrate biochemical energy. After unsupervised adaptation by genetic algorithm, these crucial variables modulate the behavioral dynamics expressed by viable robots in their interaction with the environment. The analysis of this physically rooted and self-organized dynamic action selection mechanism constitutes a novel practical contribution of this work. We also compare two different viable strategies, a self-organized continuous and a pulsed behavior, in order to foresee the possible cognitive implications of such biologicalmechatronics hybrid symbionts in a novel scenario of ecologically grounded energy and motivational autonomy.
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| 17. |
- Montebelli, Alberto
(författare)
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Modeling the Role of Energy Management in Embodied Cognition
- 2012
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- The quest for adaptive and autonomous robots, flexible enough to smoothly comply with unstructured environments and operate in close interaction with humans, seems to require a deep rethinking of classical engineering methods. The adaptivity of natural organisms, whose cognitive capacities are rooted in their biological organization, is an obvious source of inspiration. While approaches that highlight the role of embodiment in both cognitive science and cognitive robotics are gathering momentum, the crucial role of internal bodily processes as foundational components of the biological mind is still largely neglected.This thesis advocates a perspective on embodiment that emphasizes the role of non-neural bodily dynamics in the constitution of cognitive processes in both natural and artificial systems. In the first part, it critically examines the theoretical positions that have influenced current theories and the author's own position. The second part presents the author's experimental work, based on the computer simulation of simple robotic agents engaged in energy-related tasks. Proto-metabolic dynamics, modeled on the basis of actual microbial fuel cells for energy generation, constitute the foundations of a powerful motivational engine. Following a history of adaptation, proto-metabolic states bias the robot towards specific subsets of behaviors, viably attuned to the current context, and facilitate a swift re-adaptation to novel tasks. Proto-metabolic dynamics put the situated nature of the agent-environment sensorimotor interaction within a perspective that is functional to the maintenance of the robot's overall `survival'. Adaptive processes tend to convert metabolic constraints into opportunities, branching into a rich and energetically viable behavioral diversity.
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| 18. |
- Montebelli, Alberto, et al.
(författare)
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More from the Body : Embodied anticipation for swift re-adaptation in neurocomputational cognitive architectures for robotic agents
- 2010
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Ingår i: Advances in Cognitive Systems. - Stevenage : Institution of Engineering and Technology. - 1849190755 - 1849190763 - 9781849190756 - 9781849190763 ; , s. 249-270
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Bokkapitel (refereegranskat)abstract
- The coupling between a body (in an extended sense that encompasses both neural and non-neural dynamics) and its environment is here conceived as a critical substrate for cognition. We propose and discuss the plan for a neurocomputational cognitive architecture for robotic agents, so far implemented in its minimal form for supporting the behavior of a simple simulated robotic agent. A non-neural internal bodily mechanism (crucially characterized by a time scale much slower than the normal sensory-motor interactions of the robot with its environment) extends the cognitive potential of a system composed of purely reactive parts with a dynamic action selection mechanism and the capacity to integrate information over time. The same non-neural mechanism is the foundation for a novel, minimalist anticipatory architecture, implementing our bodily-anticipation hypothesis and capable of swift re-adaptation to related yet novel tasks.
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| 19. |
- Montebelli, Alberto, et al.
(författare)
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On Cognition as Dynamical Coupling : An Analysis of Behavioral Attractor Dynamics
- 2008
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Ingår i: Adaptive Behavior. - : Sage Publications. - 1059-7123 .- 1741-2633. ; 16:2-3, s. 182-195
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Tidskriftsartikel (refereegranskat)abstract
- The interaction of brain, body, and environment can result incomplex behavior with rich dynamics, even for relatively simpleagents. Such dynamics are, however, often difficult to analyze.In this article, we explore the case of a simple simulated roboticagent, equipped with a reactive neurocontroller and an energylevel, which the agent has been evolved to recharge. A dynamicalsystems analysis shows that a non-neural internal state (energylevel), despite its simplicity, dynamically modulates the behavioralattractors of the agent—environment system, such thatthe robot's behavioral repertoire is continually adapted toits current situation and energy level. What emerges is a dynamic,non-deterministic, and highly self-organized action selectionmechanism, originating from the dynamical coupling of four systems(non-neural internal states, neurocontroller, body, and environment)operating at very different timescales.
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| 20. |
- Montebelli, Alberto, et al.
(författare)
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On handing down our tools to robots : Single-phase kinesthetic teaching for dynamic in-contact tasks
- 2015
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Ingår i: Proceedings of the 2015 IEEE International Conference on Robotics and Automation. - : IEEE conference proceedings. - 9781479969234 - 9781479969210 ; , s. 5628-5634
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Konferensbidrag (refereegranskat)abstract
- We present a (generalizable) method aimed tosimultaneously transfer positional and force requirements en-coded in a physical human skill (wood planing) from a humaninstructor to a robotic arm through kinesthetic teaching. Weachieve our goal through a novel use of a common sensoryconfiguration, constituted by a force/torque sensor mountedbetween the tool and the flange of a robotic arm. The roboticarm is endowed with integrated torque sensors at each joint.The mathematical model used to capture the general dynamicof the interaction between the human user and the wood surfaceis based on Dynamic Movement Primitives. During reenactmentof the task, the system can imitate and generalize the demon-strated spatial requirements, as well as their associated forceprofiles. Therefore, the robotic arm acquires the capacity toreproduce the dynamic profile for in-contact tasks requiringan articulated coordination in the distribution of forces. Forexample, the capacity to effectively operate the plane on a woodplank over multiple strokes, according to the demonstration ofthe human instructor.
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| 21. |
- Montebelli, Alberto, et al.
(författare)
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On Transferring Crafting Intentions from Humans to Robots : A Message to Manufacturers of the (Near) Future
- 2018
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Ingår i: Advances in Manufacturing Technology XXXII. - Amsterdam : IOS Press. - 9781614999010 - 9781614999027 ; , s. 163-168
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Konferensbidrag (refereegranskat)abstract
- Our present work aligns three results from previous robotics research in simultaneous kinesthetic teaching of spatial and force/torque requirements for “in-contact” tasks, to highlight the endeavor towards the creation of safe, flexible, cost effective, confidential, natural programming interfaces, a crucial tool for the manufacturing domain of the future. The tasks that we here consider overarch different dimensions of complexity, from writing with a marker on a white slate to using a wood plane. Eventually, incrementally assisted kinesthetic teaching (IAKT) allows human experts to refine their demonstrations under modulated robotic assistance, thus converging, by a limit process constituted of a sequence of sub-perfect individual demonstrations, towards the “ideal” crafting intention, i.e. the humanly unreachable, perfect execution of the task. In the closing discussion, we demonstrate how this approach can find space in contemporary industrial and SMSE manufacturing, in order to aim for improved production quality and performance.
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| 22. |
- Montebelli, Alberto, et al.
(författare)
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Reframing HRI Education : A Dialogic Reformulation of HRI Education to Promote Diverse Thinking and Scientific Progress
- 2017
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Ingår i: Journal of Human-Robot Interaction. - : Association for Computing Machinery (ACM). - 2163-0364. ; 6:2, s. 3-26
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Tidskriftsartikel (refereegranskat)abstract
- Over the last few years, technological developments in semi-autonomous machines have raised awareness about the strategic importance of human-robot interaction (HRI) and its technical and social implications. At the same time, HRI still lacks an established pedagogic tradition in the coordination of its intrinsically interdisciplinary nature. This scenario presents steep and urgent challenges for HRI education. Our contribution presents a normative interdisciplinary dialogic framework for HRI education, denoted InDia wheel, aimed toward seamless and coherent integration of the variety of disciplines that contribute to HRI. Our framework deemphasizes technical mastery, reducing it to a necessary yet not sufficient condition for HRI design, thus modifying the stereotypical narration of HRI-relevant disciplines and creating favorable conditions for a more diverse participation of students. Prospectively, we argue, the design of an educational 'space of interaction’ that focuses on a variety of voices, without giving supremacy to one over the other, will be key to successful HRI education and practice.
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| 23. |
- Montebelli, Alberto, et al.
(författare)
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The Cognitive Body : From Dynamic Modulation to Anticipation
- 2009
-
Ingår i: Anticipatory Behavior in Adaptive Learning Systems, ABiALS 2008. - Berlin, Heidelberg : Springer Berlin/Heidelberg. - 9783642025648 - 9783642025655 ; , s. 132-151
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Konferensbidrag (refereegranskat)abstract
- Starting from the situated and embodied perspective on the study of cognition as a source of inspiration, this paper programmatically outlines a path towards an experimental exploration of the role of the body in a minimal anticipatory cognitive architecture. Cognition is here conceived and synthetically analyzed as a broadly extended and distributed dynamic process emerging from the interplay between a body, a nervous system and their environment. Firstly, we show how a non-neural internal state, crucially characterized by slowly changing dynamics, can modulate the activity of a simple neurocontroller. The result, emergent from the use of a standard evolutionary robotic simulation, is a selforganized, dynamic action selection mechanism, effectively operating in a context dependent way. Secondly, we show how these characteristics can be exploited by a novel minimalist anticipatory cognitive architecture. Rather than a direct causal connection between the anticipationprocess and the selection of the appropriate behavior, it implements a model for dynamic anticipation that operates via bodily mediation (bodily-anticipation hypothesis). This allows the system to swiftly scale up to more complex tasks never experienced before, achieving flexible and robust behavior with minimal adaptive cost.
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| 24. |
- Montebelli, Alberto, et al.
(författare)
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The Cognitive Body : from Dynamic Modulation to Anticipation
- 2003
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Ingår i: Anticipatory Behavior in Adaptive Learning Systems. - : Springer. - 9783540404293 ; , s. 132-151
-
Bokkapitel (refereegranskat)abstract
- Starting from the situated and embodied perspective on the study of cognition as a source of inspiration, this paper programmatically outlines a path towards an experimental exploration of the role of the body in a minimal anticipatory cognitive architecture. Cognition is here conceived and synthetically analyzed as a broadly extended and distributed dynamic process emerging from the interplay between a body, a nervous system and their environment. Firstly, we show how a non-neural internal state, crucially characterized by slowly changing dynamics, can modulate the activity of a simple neurocontroller. The result, emergent from the use of a standard evolutionary robotic simulation, is a selforganized, dynamic action selection mechanism, effectively operating in a context dependent way. Secondly, we show how these characteristics can be exploited by a novel minimalist anticipatory cognitive architecture. Rather than a direct causal connection between the anticipation process and the selection of the appropriate behavior, it implements a model for dynamic anticipation that operates via bodily mediation (bodily-anticipation hypothesis). This allows the system to swiftly scale up to more complex tasks never experienced before, achieving flexible and robust behavior with minimal adaptive cost.
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| 25. |
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| 26. |
- Montebelli, Alberto, et al.
(författare)
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Towards Metabolic Robotics : Insights from Modeling Embodied Cognition in a Bio-mechatronic Symbiont
-
Annan publikation (övrigt vetenskapligt/konstnärligt)abstract
- In this article, we present a novel example of a bio-mechatronic hybrid system. The living component of the system, embedded within microbial fuel cells, relies on the availability of ‘food’ and water in order to produce electrical energy. The latter is essential to the operations of the mechatronic component, responsible for finding and collecting ‘food’ and water, and for the execution of work. In simulation, we explore the behavioral and cognitive consequences of this symbiotic relation. In particular we highlight the importance of the integration of sensorimotor and metabolic signals within an evolutionary perspective, in order to create sound cognitive living technology.
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| 27. |
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| 28. |
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| 29. |
- Morse, Anthony F., et al.
(författare)
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The role of robotic modelling in cognitive science
- 2011
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Ingår i: New ideas in psychology. - : Elsevier. - 0732-118X .- 1873-3522. ; 29:3, s. 312-324
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Tidskriftsartikel (refereegranskat)abstract
- From the perspective of cognitive robotics, this paper presents a modern interpretation of Newell’s (1973) reasoning and suggestions for why and how cognitive psychologists should develop models of cognitive phenomena. We argue that the shortcomings of current cognitive modelling approaches are due in significant part to a lack of exactly the kind of integration required for the development of embodied autonomous robotics. Moreover we suggest that considerations of embodiment, situatedness, and autonomy, intrinsic to cognitive robotics, provide an appropriate basis for the integration and theoretic cumulation that Newell argued was necessary for psychology to mature. From this perspective we analyse the role of embodiment and modes of situatedness in terms of integration, cognition, emotion, and autonomy. Four complementary perspectives on embodied and situated cognitive science are considered in terms of their potential to contribute to cognitive robotics, cognitive science, and psychological theorizing: minimal cognition and organization, enactive perception and sensorimotor contingency, homeostasis and emotion, and social embedding. In combination these perspectives provide a framework for cognitive robotics, not only wholly compatible with the original aims of cognitive modelling, but as a more appropriate methodology than those currently in common use within psychology.
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| 30. |
- Racca, Mattia, et al.
(författare)
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Learning in-contact control strategies from demonstration
- 2016
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Ingår i: IROS 2016. - : IEEE. - 9781509037629 ; , s. 688-695
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Konferensbidrag (refereegranskat)abstract
- Learning to perform tasks like pulling a door handle or pushing a button, inherently easy for a human, can be surprisingly difficult for a robot. A crucial problem in these kinds of in-contact tasks is the context specificity of pose and force requirements. In this paper, a robot learns in-contact tasks from human kinesthetic demonstrations. To address the need to balance between the position and force constraints, we propose a model based on the hidden semi-Markov model (HSMM) and Cartesian impedance control. The model captures uncertainty over time and space and allows the robot to smoothly satisfy a task's position and force constraints by online modulation of impedance controller stiffness according to the HSMM state belief. In experiments, a KUKA LWR 4+ robotic arm equipped with a force/torque sensor at the wrist successfully learns from human demonstrations how to pull a door handle and push a button.
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| 31. |
- Steinmetz, Franz, et al.
(författare)
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Simultaneous kinesthetic teaching of positional and force requirements for sequential in-contact tasks
- 2015
-
Ingår i: Proceedings of the 2015 IEEE-RAS International Conference on Humanoid Robots (Humanoids). - : IEEE Computer Society. - 9781479968855 - 9781479968848 ; , s. 202-209
-
Konferensbidrag (refereegranskat)abstract
- This paper demonstrates a method for simulta-neous transfer of positional and force requirements for in-contact tasks from a human instructor to a robotic arm throughkinesthetic teaching. This is achieved by a specific use of thesensory configuration, where a force/torque sensor is mountedbetween the tool and the flange of a robotic arm endowedwith integrated torque sensors at each joint. The humandemonstration is modeled using Dynamic Movement Primitives.Following human demonstration, the robot arm is provided withthe capacity to perform sequential in-contact tasks, for examplewriting on a notepad a previously demonstrated sequence ofcharacters. During the reenactment of the task, the systemis not only able to imitate and generalize from demonstratedtrajectories, but also from their associated force profiles. In fact,the implemented framework is extended to successfully recoverfrom perturbations of the trajectory during reenactment andto cope with dynamic environments.
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| 32. |
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| 33. |
- Thill, Serge, et al.
(författare)
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Workshop on Intention Recognition in HRI
- 2016
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Ingår i: 2016 11TH ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN-ROBOT INTERACTION (HRI). - : IEEE. - 9781467383707 ; , s. 585-586
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Konferensbidrag (refereegranskat)abstract
- The present workshop focuses on the topic of intention recognition in HRI. To be able to recognise intentions of other agents is a fundamental prerequisite to engage in, for instance, instrumental helping or mutual collaboration. It is a necessary aspect of natural interaction. In HRI, the problem is therefore bi-directional: not only does a robot need the ability to infer intentions of humans; humans also need to infer the intentions of the robot. From the human perspective, this inference draws both on the ability to attribute cognitive states to lifeless shapes, and the ability to understand actions of other agents through, for instance, embodied processes or internal simulations (i.e the human ability to form a theory of mind of other agents). How precisely, and to what degree these mechanisms are at work when interacting with social artificial agents remains unknown. From the robotic perspective, this lack of understanding of mechanisms underlying human intention recognition, or the capacity for theory of mind in general, is also challenging: the solution can, for instance, not simply be to make autonomous systems work "just like" humans by copying the biological solution and implementing some technological equivalent. It is therefore important to be clear about the theoretical framework(s) and inherent assumptions underlying technological implementations related to mutual intention. This remains very much an active research area in which further development is necessary. The core purpose of this workshop is thus to contribute to and advance the state of the art in this area.
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| 34. |
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| 35. |
- Wróbel, Borys, et al.
(författare)
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The Search for Beauty : Evolution of Minimal Cognition in an Animat Controlled by a Gene Regulatory Network and Powered by a Metabolic System
- 2012
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Ingår i: From Animals to Animats 12. - Berlin, Heidelberg : Springer Berlin/Heidelberg. - 9783642330926 - 9783642330933 ; , s. 198-208
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Konferensbidrag (refereegranskat)abstract
- We have created a model of a hybrid system in which a gene regulatory network (GRN) controls the search for resources (fuel / food and water) necessary to allow an artificial metabolic system (simulated microbial fuel cell) to produce energy. We explore the behaviour of simple animats in a two-dimensional simulated environment requiring minimal cognition. In our system control evolves in a biologically-realistic manner under tight energy constraints. We use a model of GRN in which there is no limit on the size of the network, and the concentration of regulatory substances (transcriptional factors, TFs) change in a continuous fashion. Externally driven concentrations of selected TFs provid the sensory information to the animat, while the concentration of selected internally produced TFs is interpreted as the signal for actuators. We use a genetic algorithm to obtain diverse evolved strategies in ecologically grounded animats with motivational autonomy, even though they lack a dedicated motivational circuit. There are three motivations (or drives) in the system: thirst, hunger, and reproduction. The animats need to search for food and water, but also to perform work. Because the value of such work is arbitrary (in the eye of the beholder), but affects the chances of reproduction, we suggest that the term beauty is more appropriate, and we name the task the Search for Beauty. The results obtained provide a step towards realizing a biologically realistic system with respect to: the way the control is exercised, the way it evolves, and the way the metabolism provides energy.
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