Controlling a Humanoid Robot in Home Environment with a Cognitive Architecture
- Controlling a Humanoid Robot in Home Environment with a Cognitive Architecture
- 김강건; 최동규; 이지용; 박정민; 유범재
- Issue Date
- The 2011 IEEE International Conference on Robotics and Biomimetics
- , 1754-1759
- Latest humanoid robots mimic the human body
in realistic ways, but their control mechanisms fall short of the
human mind. More often than not, the robots simply have a
fixed set of routine codes that govern their behavior, and even
the ones with some learning capabilities are not human-like.
Since cognitive architectures aim for general intelligence and
provide infrastructure for modeling human cognition, we can
benefit from this line of research by adapting such architectures
as control mechanisms in our robots. Recent studies revealed
that this strategy is, in fact, very useful. Previously, we used
one such architecture, ICARUS, to control a humanoid robot
for Blocks World tasks. In this paper, we extend the system
to perform more complex tasks autonomously on a similar
platform. Despite the challenges we encountered in system
integration, sensory updates, and navigation, the overall success
of this application indicates that the system is capable of more
complex tasks to provide services in home environments.
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