Abstract

In this paper, we propose a new architecture for recognizing objects based on a concept "embodiment" as one of primitive functions for a cognitive robot. We define the term "embodiment" as the extent of the agent's body, locomotive ability and its sensor. According to embodiment, an object is represented by reaching action paths, which correspond to a set of sequences of movements taken by the agent for reaching the object. Such behavior is acquired by the trial-and-error method based on the visual and tactile information. Visual information is used to obtain sensorimotor mapping which represents the relationship between the change of object's appearance and the movement of the agent. On the other hands, tactile information is utilized to evaluate the change of physical condition of the object caused by such movement. By means of this method, the agent can recognize an object without depending on its position and orientation in the environment. To show the validity of our method, we show an experimental result of computer simulation.

Citations