| 1. |
- 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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| 2. |
- 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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| 3. |
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| 4. |
- 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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| 5. |
- 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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| 6. |
- 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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| 7. |
- 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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| 8. |
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| 9. |
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| 10. |
- 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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