Task Oriented Control of a Humanoid Robot Through the Implementation of a Cognitive Architecture

Engineers have long employed control systems utilizing models and feedback loops to control real-world systems. Limitations of model-based control led to a generation of intelligent control techniques such as adaptive and fuzzy control. The human brain, on the other hand, is known to process a variety of inputs in parallel, and shift between different levels of cognitive activities while ignoring distractions to focus on the task in hand. This process, known as cognitive control in psychology, is unique to humans and a handful of animals. We are interested in implementing such cognitive control functionalities for our humanoid robot ISAC. This paper outlines the features of multiagent-based cognitive architecture for a humanoid robot and the progress made toward the realization of cognitive control functionalities using attention, working memory and internal rehearsal. Several experiments have been conducted to show that the implementation of an integrated cognitive robot architecture is feasible.

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Enaction as a Conceptual Framework for Developmental Cognitive Robotics

Paladyn Journal of Behavioral Robotics ◽

10.2478/s13230-010-0016-y ◽

2010 ◽

Vol 1 (2) ◽

Cited By ~ 19

Author(s):

David Vernon

Keyword(s):

Cognitive Abilities ◽

Humanoid Robot ◽

Cognitive Architecture ◽

Cognitive System ◽

Cognitive Robotics ◽

Robotic Systems ◽

Sense Making ◽

Cognitive Systems ◽

Core Set ◽

The World

AbstractThis paper provides an accessible introduction to the cognitive systems paradigm of enaction and shows how it forms a practical framework for robotic systems that can develop cognitive abilities. The principal idea of enaction is that a cognitive system develops it own understanding of the world around it through its interactions with the environment. Thus, enaction entails that the cognitive system operates autonomously and that it generates its own models of how the world works. A discussion of the five key elements of enaction — autonomy, embodiment, emergence, experience, and sense-making — leads to a core set of functional, organizational, and developmental requirements which are then used in the design of a cognitive architecture for the iCub humanoid robot.

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Controlling a humanoid robot in home environment with a cognitive architecture

2011 IEEE International Conference on Robotics and Biomimetics ◽

10.1109/robio.2011.6181543 ◽

2011 ◽

Cited By ~ 2

Author(s):

KangGeon Kim ◽

Dongkyu Choi ◽

Ji-Yong Lee ◽

Jung-Min Park ◽

Bum-Jae You

Keyword(s):

Home Environment ◽

Humanoid Robot ◽

Cognitive Architecture

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NATURAL BEHAVIOR GENERATION FOR HUMANOID ROBOTS

International Journal of Humanoid Robotics ◽

10.1142/s0219843604000332 ◽

2004 ◽

Vol 01 (04) ◽

pp. 637-649

Author(s):

TAKAHIRO MIYASHITA ◽

HIROSHI ISHIGURO

Keyword(s):

Humanoid Robot ◽

Inverted Pendulum ◽

Humanoid Robots ◽

Communication Behavior ◽

Hybrid Generation ◽

Natural Behavior ◽

Hybrid Controller ◽

Wheeled Inverted Pendulum ◽

Almost All ◽

Task Oriented

Human behaviors consist of both voluntary and involuntary motions. Almost all behaviors of task-oriented robots, however, consist solely of voluntary motions. Involuntary motions are important for generating natural motions like those of humans. Thus, we propose a natural behavior generation method for humanoid robots that is a hybrid generation between voluntary and involuntary motions. The key idea of our method is to control robots with a hybrid controller that combines the functions of a communication behavior controller and body balancing controllers. We also develop a wheeled inverted pendulum type of humanoid robot, named "Robovie-III," in order to generate involuntary motions like oscillation. This paper focuses on the system architecture of this robot. By applying our method to this robot and conducting preliminary experiments, we verify its validity. Experimental results show that the robot generates both voluntary and involuntary motions.

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