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From learning to new goal generation in a bioinspired robotic setup

Alessio Mauro Franchi, Flavio Mutti, Giuseppina Gini
2016 Advanced Robotics  
In the field of cognitive bioinspired robotics, we focus on autonomous development, and propose a possible model to explain how humans generate and pursue new goals that are not strictly dictated by survival  ...  The Intentional Distributed Robotic Architecture (IDRA) here presented intends to allow the autonomous development of new goals in situated agents starting from some simple hard-coded instincts.  ...  Since 1987 she is an associate professor of robotics at Politecnico di Milano. Her research interests are in pattern recognition and modeling, with applications to robotics and intelligent systems.  ... 
doi:10.1080/01691864.2016.1172732 fatcat:lyd5yyoi4vfrpmp3dqtnp5m3ja

Integration of Speech and Action in Humanoid Robots: iCub Simulation Experiments

Vadim Tikhanoff, Angelo Cangelosi, Giorgio Metta
2011 IEEE Transactions on Autonomous Mental Development  
This paper proposes a new approach to the design of cognitive skills in a robot able to interact with, and communicate about, the surrounding physical world and manipulate objects in an adaptive manner  ...  The work is based on robotic simulation experiments showing that a humanoid robot (iCub platform) is able to acquire behavioral, cognitive, and linguistic skills through individual and social learning.  ...  Fig. 4 . 4 Diagram of the motor control modules. Fig. 5 . 5 Architecture of the employed feed-forward neural network.  ... 
doi:10.1109/tamd.2010.2100390 fatcat:dhpcvwvlxvhq3mlic4sicsnxxu

Goal-Directed Reasoning and Cooperation in Robots in Shared Workspaces: an Internal Simulation Based Neural Framework

Ajaz A. Bhat, Vishwanathan Mohan
2018 Cognitive Computation  
In the setting of an industrial task where two robots are jointly assembling objects in a shared workspace, we describe a bioinspired neural architecture for goal-directed action planning based on coupled  ...  Finally, the proposed neural framework is benchmarked against a typically engineered solution to evaluate its performance in the assembly task.  ...  Acknowledgements We acknowledge the support of PROFACTOR GmbH, Austria, that designed the engineered benchmark system as part  ... 
doi:10.1007/s12559-018-9553-1 pmid:30147802 pmcid:PMC6096944 fatcat:mujplqwanjckphikysejs3gggq

Bio-Inspired Animated Characters A Mechanistic & Cognitive View

Simpson Bond
2016 Figshare  
This procedural animation solution uses bioinspired insights (modelling nature and the workings of the brain)to unveil a new generation of intelligent agents.  ...  manner.We present an introduction to the concept of cognitive skills, asan aid in finding and designing a viable solution.  ...  The motor part of the brain relies on information from the sensory systems. The control signals are dynamically changing depending on our state.  ... 
doi:10.6084/m9.figshare.4268924 fatcat:o3jwe53qxjh2rdlm7b24t6wupu

A Biomimetic Control Method Increases the Adaptability of a Humanoid Robot Acting in a Dynamic Environment

Marie Claire Capolei, Emmanouil Angelidis, Egidio Falotico, Henrik Hautop Lund, Silvia Tolu
2019 Frontiers in Neurorobotics  
The control system is composed of the adaptive cerebellar module and a classic control method; their combination allows a fast adaptive learning and robust control of the robotic movements when external  ...  With this purpose, we embedded a cerebellum-based control system into a humanoid robot that becomes capable of handling dynamical external and internal complexity.  ...  The τ tot total control input is expressed as the result of a feed-forward compensation (as the AFEL architecture proposed by Tolu et al., 2012) , τ tot N×1 =   τ tot 0 ... τ tot N   =   τ PID 0  ... 
doi:10.3389/fnbot.2019.00070 pmid:31555117 pmcid:PMC6722230 fatcat:dxg6rnvkvzewbki6naycqsvfyi

Control of a Humanoid NAO Robot by an Adaptive Bioinspired Cerebellar Module in 3D Motion Tasks

Alberto Antonietti, Dario Martina, Claudia Casellato, Egidio D'Angelo, Alessandra Pedrocchi
2019 Computational Intelligence and Neuroscience  
A bioinspired adaptive model, developed by means of a spiking neural network made of thousands of artificial neurons, has been leveraged to control a humanoid NAO robot in real time.  ...  The learning properties of the system have been challenged in a classic cerebellum-driven paradigm, a perturbed upper limb reaching protocol.  ...  Supplementary Materials A supplementary video is provided, which illustrates the 3D motion task performed by the NAO robot, driven by the SNN controller, in the three experimental phases: 5 baseline trials  ... 
doi:10.1155/2019/4862157 pmid:30833964 pmcid:PMC6369512 fatcat:cler34bz4bg33f3mkih3g2mt5y

A Survey of Artificial Cognitive Systems: Implications for the Autonomous Development of Mental Capabilities in Computational Agents

David Vernon, Giorgio Metta, Giulio Sandini
2007 IEEE Transactions on Evolutionary Computation  
It does so based on a characterization of cognitive systems as systems which exhibit adaptive, anticipatory, and purposive goal-directed behavior.  ...  robotic platforms with the aim of implementing bioinspired models of sensorimotor control.  ...  ACKNOWLEDGMENT The authors would like to acknowledge the many helpful comments of the two anonymous referees on earlier versions of this paper.  ... 
doi:10.1109/tevc.2006.890274 fatcat:s3ueaficnjbebkrfnend4ahpau

Contextual action recognition and target localization with an active allocation of attention on a humanoid robot

Dimitri Ognibene, Eris Chinellato, Miguel Sarabia, Yiannis Demiris
2013 Bioinspiration & Biomimetics  
Inspired by the cognitive mechanisms underlying human social behaviour, we have designed and implemented a system for dynamic attention allocation which is able to actively control gaze movements during  ...  Experimental results on a simulated environment show that active gaze control, based on the internal simulation of actions, provides a relevant advantage with respect to other action perception approaches  ...  in the motor system.  ... 
doi:10.1088/1748-3182/8/3/035002 pmid:23981534 fatcat:xguccv2v6ndb3c6zdgllpie4ri

Questions to Guide the Future of Artificial Intelligence Research [article]

Jordan Ott
2020 arXiv   pre-print
The field of machine learning has focused, primarily, on discretized sub-problems (i.e. vision, speech, natural language) of intelligence.  ...  In this article, we propose leading questions to guide the future of artificial intelligence research. There are clear computational principles on which the brain operates.  ...  After all, solely feed-forward architectures have done remarkably well in domains like object recognition [80] .  ... 
arXiv:1912.10305v2 fatcat:hihf42fkinbk5horq7mdgdfmnq

A Hierarchical System for a Distributed Representation of the Peripersonal Space of a Humanoid Robot

Marco Antonelli, Agostino Gibaldi, Frederik Beuth, Angel J. Duran, Andrea Canessa, Manuela Chessa, Fabio Solari, Angel P. del Pobil, Fred Hamker, Eris Chinellato, Silvio P. Sabatini
2014 IEEE Transactions on Autonomous Mental Development  
To achieve this goal, we propose a cognitive architecture that connects several models inspired by neural circuits of the visual, frontal and posterior parietal cortices of the brain.  ...  precisely driving the motors of the arm to reach it.  ...  On the other hand, multiplexers avoid any interference or conflict among modules that send motor commands, because they forward one signal at a time.  ... 
doi:10.1109/tamd.2014.2332875 fatcat:tfteyounbzesnea6m57icjvdee

Embodiment and Humanoid Robotics [chapter]

Thomas Mergner, Michael Funk, Vittorio Lippi
2019 Springer Reference Geisteswissenschaften  
The 'human-to-humanoids (H2H)' approach focuses on developing humaninspired controllers, and to this end investigates the human motor system.  ...  The historical evolution of the system can be observed when integrating learning into the bioinspired control, like in experiments of Lippi (2018) .  ... 
doi:10.1007/978-3-658-23715-8_23-1 fatcat:axartixugbgatklqarrjtxqiue

TWO!EARS Deliverable D4.1 - Feedback-loop selection and listing (WP4: Active listening, feedback loops & integration of cross-modal information; FP7-ICT-2013-C TWO!EARS FET-Open Project 618075)

Jens Blauert, Thomas Walther
2019 Zenodo  
Input from modalities other than the auditory one will also be considered as a source of feedback information, particularly, position, direction of speed of head-&-torso movements (proprioceptive and sensorimotor  ...  within an innovative expert-system architecture.  ...  Figure 2 . 6 : 26 Schematic of bottom-up feed-forward flow of auditory analysis and top-down cognitive influences (RHT) that give rise to auditory perception and awareness.  ... 
doi:10.5281/zenodo.2595244 fatcat:3oocvxholvgr3ecgubmq3uwxqa

Bio-Inspired Embedded Vision System for Autonomous Micro-Robots: The LGMD Case

Cheng Hu, Farshad Arvin, Caihua Xiong, Shigang Yue
2017 IEEE Transactions on Cognitive and Developmental Systems  
The vision module is placed on top of a microrobot to initiate obstacle avoidance behaviour autonomously.  ...  The results of the experiments with different scenarios demonstrated the potential of the bio-inspired vision system as a low-cost embedded module for autonomous robots.  ...  The feed forward inhibition and lateral inhibition work together to cope with such whole field movement.  ... 
doi:10.1109/tcds.2016.2574624 fatcat:jwk7up4uqbh4heuqbg6q6engum

The grand challenges ofScience Robotics

Guang-Zhong Yang, Jim Bellingham, Pierre E. Dupont, Peer Fischer, Luciano Floridi, Robert Full, Neil Jacobstein, Vijay Kumar, Marcia McNutt, Robert Merrifield, Bradley J. Nelson, Brian Scassellati (+5 others)
2018 Science Robotics  
Of our 10 grand challenges, the first 7 represent underpinning technologies that have a wider impact on all application areas of robotics.  ...  One of the ambitions of Science Robotics is to deeply root robotics research in science while developing novel robotic platforms that will enable new scientific discoveries.  ...  Third, cognitive systems relying on statistical machine learning and AI are becoming mainstream.  ... 
doi:10.1126/scirobotics.aar7650 pmid:33141701 fatcat:ier3exhbkvauhjd2uhgagtxjde

A review on neural network models of schizophrenia and autism spectrum disorder

Pablo Lanillos, Daniel Oliva, Anja Philippsen, Yuichi Yamashita, Yukie Nagai, Gordon Cheng
2019 Neural Networks  
Recent theories and evidence on sensorimotor integration and body perception combined with modern neural network architectures could offer a broader and novel spectrum to approach these psychopathologies  ...  Models of schizophrenia mainly focused on hallucinations and delusional thoughts using neural dysconnections or inhibitory imbalance as the predominating alteration.  ...  This motor behavior could also be present in ASD. Just a single study focused on dysconnection in ASD.  ... 
doi:10.1016/j.neunet.2019.10.014 pmid:31760370 fatcat:nkqyxqpt6fgu7dbceq3m6craka
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