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Institute of Electrical and Electronics Engineers (IEEE)
Doi
Abstract
Preprint version; final version available at
http://ieeexplore.ieee.org/ IEEE Transactions on Cognitive and Developmental
Systems (Accepted) DOI: 10.1109/TCDS.2017.2754143This paper introduces a cognitive architecture for a humanoid robot to engage in a proactive, mixed-initiative exploration and manipulation of its environment, where the initiative can originate from both human and robot. The framework, based on a biologically grounded theory of the brain and mind, integrates a reactive interaction engine, a number of state-of-the-art perceptual and motor learning algorithms, as well as planning abilities and an autobiographical memory. The architecture as a whole drives the robot behavior to solve the symbol grounding problem, acquire language capabilities, execute goal-oriented behavior, and express a verbal narrative of its own experience in the world. We validate our approach in human-robot interaction experiments with the iCub humanoid robot, showing that the proposed cognitive architecture can be applied in real time within a realistic scenario and that it can be used with naive users
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