A biologically inspired architecture for an autonomous and social robot

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dc.contributor.author Malfaz Vázquez, María Ángeles
dc.contributor.author Castro González, Álvaro
dc.contributor.author Barber Castaño, Ramón Ignacio
dc.contributor.author Salichs Sánchez-Caballero, Miguel
dc.date.accessioned 2014-04-04T11:18:48Z
dc.date.available 2014-04-04T11:18:48Z
dc.date.issued 2011-09
dc.identifier.bibliographicCitation IEEE Transactions on autonomous mental development, September 2011, Vol. 3, N. 3, pp. 232-246
dc.identifier.issn 1943-0604
dc.identifier.uri http://hdl.handle.net/10016/18730
dc.description.abstract Lately, lots of effort has been put into the construction of robots able to live among humans. This fact has favored the development of personal or social robots, which are expected to behave in a natural way. This implies that these robots could meet certain requirements, for example, to be able to decide their own actions (autonomy), to be able to make deliberative plans (reasoning), or to be able to have an emotional behavior in order to facilitate human-robot interaction. In this paper, the authors present a bioinspired control architecture for an autonomous and social robot, which tries to accomplish some of these features. In order to develop this new architecture, authors have used as a base a prior hybrid control architecture (AD) that is also biologically inspired. Nevertheless, in the later, the task to be accomplished at each moment is determined by a fix sequence processed by the Main Sequencer. Therefore, the main sequencer of the architecture coordinates the previously programmed sequence of skills that must be executed. In the new architecture, the main sequencer is substituted by a decision making system based on drives, motivations, emotions, and self-learning, which decides the proper action at every moment according to robot's state. Consequently, the robot improves its autonomy since the added decision making system will determine the goal and consequently the skills to be executed. A basic version of this new architecture has been implemented on a real robotic platform. Some experiments are shown at the end of the paper.
dc.description.sponsorship This work has been supported by the Spanish Government through the project called “Peer to Peer Robot-Human Interaction” (R2H), of MEC (Ministry of Science and Education), the project “A new approach to social robotics” (AROS), of MICINN (Ministry of Science and Innovation), the CAM Project S2009/DPI-1559/ROBOCITY2030 II, developed by the research team RoboticsLab at the University Carlos III of Madrid.
dc.format.extent 15
dc.format.mimetype application/pdf
dc.language.iso eng
dc.publisher IEEE
dc.subject.other Autonomy
dc.subject.other Cognitive robotics
dc.subject.other Control architectures
dc.subject.other Decision making systems
dc.subject.other Emotions
dc.subject.other Motivations
dc.title A biologically inspired architecture for an autonomous and social robot
dc.type article
dc.relation.publisherversion http://dx.doi.org/10.1109/TAMD.2011.2112766
dc.subject.eciencia Robótica e Informática Industrial
dc.identifier.doi 10.1109/TAMD.2011.2112766
dc.rights.accessRights openAccess
dc.relation.projectID Comunidad de Madrid. S2009/DPI-1559/ROBOCITY2030 II
dc.type.version acceptedVersion
dc.identifier.publicationfirstpage 232
dc.identifier.publicationissue 3
dc.identifier.publicationlastpage 246
dc.identifier.publicationtitle IEEE Transactions on autonomous mental development
dc.identifier.publicationvolume 3
dc.identifier.uxxi AR/0000009371
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