Task oriented control of a humanoid robot through the implementation of a cognitive architecture Articles uri icon

publication date

  • January 2017

start page

  • 3

end page

  • 25

issue

  • 1

volume

  • 85

International Standard Serial Number (ISSN)

  • 0921-0296

Electronic International Standard Serial Number (EISSN)

  • 1573-0409

abstract

  • This work presents a novel approach on task oriented control of a humanoid robot through the implementation of a cognitive architecture. The architecture developed here provides humanoid robots with systems that allow them to continuously learn new skills, adapt these skills to new contexts and robustly reproduce new behaviours in dynamical environments. This architecture can be thought of as a first stepping stone upon which to incrementally build more complex cognitive processes, providing this way a minimum degree of intelligence for the humanoid robot. Several experiments are conducted to prove the validity of the system and to test the operation of the architecture.

keywords

  • learning by demonstration; motion adaptation; human-robot interaction; cognitive models; systems; intelligence; mind; rcs