Author
Ugur, E., Nagai, Y., Sahin, E., Öztop, Erhan
Publication Date
2015-06
Publication Place
-
IEEE
Subject
Affordance, Developmental robotics, Goal emulation, Imitation, Motionese, Sensorimotor learning
Type
Periodical
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
1943-0604
Record ID
c5152bbb-fa8b-4a2b-935b-aea89956f527
Library Location
Computer Science
Date
2015-06
Notes
European Community ; JSPS/MEXT ; Ministry of Internal Affairs and Communications, Japan.
Sample Text
Inspired by infant development, we propose a three staged developmental framework for an anthropomorphic robot manipulator. In the first stage, the robot is initialized with a basic reach-and- enclose-on-contact movement capability, and discovers a set of behavior primitives by exploring its movement parameter space. In the next stage, the robot exercises the discovered behaviors on different objects, and learns the caused effects; effectively building a library of affordances and associated predictors. Finally, in the third stage, the learned structures and predictors are used to bootstrap complex imitation and action learning with the help of a cooperative tutor. The main contribution of this paper is the realization of an integrated developmental system where the structures emerging from the sensorimotor experience of an interacting real robot are used as the sole building blocks of the subsequent stages that generate increasingly more complex cognitive capabilities. The proposed framework includes a number of common features with infant sensorimotor development. Furthermore, the findings obtained from the self-exploration and motionese guided human-robot interaction experiments allow us to reason about the underlying mechanisms of simple-to-complex sensorimotor skill progression in human infants.
DOI
10.1109/TAMD.2015.2426192
Cilt
7
