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More from the Body: Embodied anticipation for swift re-adaptation in neurocomputational cognitive architectures for robotic agents
Cognition and Interaction Lab, University of Skövde, Skövde, Sweden.
Cognition & Interaction Lab, University of Skövde, Skövde, Sweden.
Cognition & Interaction Lab, University of Skövde, Skövde, Sweden.
2010 (English)In: Advances in Cognitive Systems: Foundations, Theories, and Systems / [ed] Samia Nefti-Meziani and John Grey, IET Digital Library , 2010, 249-270 p.Chapter in book (Other academic)
Abstract [en]

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.

Place, publisher, year, edition, pages
IET Digital Library , 2010. 249-270 p.
Keyword [en]
Cognitive robotics; embodied cognition; dynamic systems; neuromodulation; anticipation; multiple time scales; bio-regulation
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:liu:diva-77230ISBN: 978-1-84919-075-6 (print)OAI: oai:DiVA.org:liu-77230DiVA: diva2:525649
Available from: 2012-05-08 Created: 2012-05-08 Last updated: 2012-05-25Bibliographically approved
In thesis
1. Modeling the Role of Energy Management in Embodied Cognition
Open this publication in new window or tab >>Modeling the Role of Energy Management in Embodied Cognition
2012 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

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.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2012. 116 p.
Series
Linköping Studies in Science and Technology. Dissertations, ISSN 0345-7524 ; 1455
National Category
Engineering and Technology
Identifiers
urn:nbn:se:liu:diva-77231 (URN)978-91-7519-882-8 (ISBN)
Public defence
2012-06-12, G109, hus G, Högskolan i Skövde, Skövde, 13:15 (English)
Supervisors
Available from: 2012-05-25 Created: 2012-05-08 Last updated: 2012-05-25Bibliographically approved

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CiteExportLink to record
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Citation style
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