The RobotCub Approach to the Development of Cognition

This paper elaborates on the workplan of an initiative in embodied cognition: RobotCub. Our goal here is to provide background and to motivate our long-term plan of empirical research including brain and robotic sciences following the principles of epigenetic robotics

Robust visual servoing in 3d reaching tasks

This paper describes a novel approach to the problem of reaching an object in space under visual guidance. The approach is characterized by a great robustness to calibration errors, such that virtually no calibration is required. Servoing is based on binocular vision: a continuous measure of the end-effector motion field, derived from real-time computation of the binocular optical flow over the stereo images, is compared with the actual position of the target and the relative error in the end-effector trajectory is continuously corrected. The paper outlines the general framework of the approach, shows how visual measures are obtained and discusses the synthesis of the controller along with its stability analysis. Real-time experiments are presented to show the applicability of the approach in real 3-D applications

Young children do not integrate visual and haptic information

Several studies have shown that adults integrate visual and haptic information (and information from other modalities) in a statistically optimal fashion, weighting each sense according to its reliability. To date no studies have investigated when this capacity for cross-modal integration develops. Here we show that prior to eight years of age, integration of visual and haptic spatial information is far from optimal, with either vision or touch dominating totally, even in conditions where the dominant sense is far less precise than the other (assessed by discrimination thresholds). For size discrimination, haptic information dominates in determining both perceived size and discrimination thresholds, while for orientation discrimination vision dominates. By eight-ten years, the integration becomes statistically optimal, like adults. We suggest that during development, perceptual systems require constant recalibration, for which cross-sensory comparison is important. Using one sense to calibrate the other precludes useful combination of the two sources

Lower body design of the ‘iCub’ a human-baby like crawling robot

The development of robotic cognition and a greater understanding of human cognition form two of the current greatest challenges of science. Within the RobotCub project the goal is the development of an embodied robotic child (iCub) with the physical and ultimately cognitive abilities of a 2frac12 year old human baby. The ultimate goal of this project is to provide the cognition research community with an open human like platform for understanding of cognitive systems through the study of cognitive development. In this paper the design of the mechanisms adopted for lower body and particularly for the leg and the waist are outlined. This is accompanied by discussion on the actuator group realisation in order to meet the torque requirements while achieving the dimensional and weight specifications. Estimated performance measures of the iCub are presented

Управління трудовими ресурсами в закладах та установах освіти як новий соціально-економічний стандарт

The aim of the present paper is to propose that the adoption of a framework of biological development is suitable for the construction of artificial systems. We will argue that a developmental approach does provide unique insights on how to build highly complex and adaptable artificial systems. To illustrate our point, we will use as an example the acquisition of goal-directed reaching. In the initial part of the paper we will outline a) how mechanisms of biological development can be adapted to the artificial world, and b) how this artificial development differs from traditional engineering approaches to robotics. An experiment performed on an artificial system initially controlled by motor reflexes is presented, showing the acquisition of visuo-motor maps for ballistic control of reaching without explicit knowledge of the system's kinematic parameters

Experimentação de genótipos de trigo para duplo propósito no Paraná, em 1999.

Introdução; Material e métodos; Resultados e discussão; Matéria verde; Matéria seca; Rendimento de grãos; Ciclo e altura; Características agronômicas.bitstream/item/157857/1/FL-07263.pd

Integration of Action and Language Knowledge: A Roadmap for Developmental Robotics

“This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder." “Copyright IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.”This position paper proposes that the study of embodied cognitive agents, such as humanoid robots, can advance our understanding of the cognitive development of complex sensorimotor, linguistic, and social learning skills. This in turn will benefit the design of cognitive robots capable of learning to handle and manipulate objects and tools autonomously, to cooperate and communicate with other robots and humans, and to adapt their abilities to changing internal, environmental, and social conditions. Four key areas of research challenges are discussed, specifically for the issues related to the understanding of: 1) how agents learn and represent compositional actions; 2) how agents learn and represent compositional lexica; 3) the dynamics of social interaction and learning; and 4) how compositional action and language representations are integrated to bootstrap the cognitive system. The review of specific issues and progress in these areas is then translated into a practical roadmap based on a series of milestones. These milestones provide a possible set of cognitive robotics goals and test scenarios, thus acting as a research roadmap for future work on cognitive developmental robotics.Peer reviewe

Olimpíada de robótica educativa livre : potencialidades para a educação científica e tecnológica

O presente artigo descreve e analisa uma atividade voltada à utilização da robótica educativa livre como alternativa para qualificar a aprendizagem e instigar o gosto pela área de Ciência e Tecnologia. Para isso, foi realizada uma Olimpíada com estudantes da educação básica de escolas públicas, a qual foi estruturada de forma colaborativa e em etapas, sendo desenvolvida ao longo do ano de 2016. Foram apresentados desafios para a construção de aparatos robóticos pelos alunos com base em materiais fornecidos pelos organizadores. O estudo apontou as contribuições da atividade para a aprendizagem e para a aproximação com a área tecnológica. Por outro viés, revelou limitações que dizem respeito ao desenvolvimento de atividades estruturadas com base em uma metodologia colaborativa

The Use of Phonetic Motor Invariants Can Improve Automatic Phoneme Discrimination

affiliation: Castellini, C (Reprint Author), Univ Genoa, LIRA Lab, Genoa, Italy. Castellini, Claudio; Metta, Giorgio; Tavella, Michele, Univ Genoa, LIRA Lab, Genoa, Italy. Badino, Leonardo; Metta, Giorgio; Sandini, Giulio; Fadiga, Luciano, Italian Inst Technol, Genoa, Italy. Grimaldi, Mirko, Salento Univ, CRIL, Lecce, Italy. Fadiga, Luciano, Univ Ferrara, DSBTA, I-44100 Ferrara, Italy. article-number: e24055 keywords-plus: SPEECH-PERCEPTION; RECOGNITION research-areas: Science & Technology - Other Topics web-of-science-categories: Multidisciplinary Sciences author-email: [email protected] funding-acknowledgement: European Commission [NEST-5010, FP7-IST-250026] funding-text: The authors acknowledge the support of the European Commission project CONTACT (grant agreement NEST-5010) and SIEMPRE (grant agreement number FP7-IST-250026). The funders had no role in study design, data collection and analysis, decision to publish, or preparation of the manuscript. number-of-cited-references: 31 times-cited: 0 journal-iso: PLoS One doc-delivery-number: 817OO unique-id: ISI:000294683900024We investigate the use of phonetic motor invariants (MIs), that is, recurring kinematic patterns of the human phonetic articulators, to improve automatic phoneme discrimination. Using a multi-subject database of synchronized speech and lips/tongue trajectories, we first identify MIs commonly associated with bilabial and dental consonants, and use them to simultaneously segment speech and motor signals. We then build a simple neural network-based regression schema (called Audio-Motor Map, AMM) mapping audio features of these segments to the corresponding MIs. Extensive experimental results show that (a) a small set of features extracted from the MIs, as originally gathered from articulatory sensors, are dramatically more effective than a large, state-of-the-art set of audio features, in automatically discriminating bilabials from dentals; (b) the same features, extracted from AMM-reconstructed MIs, are as effective as or better than the audio features, when testing across speakers and coarticulating phonemes; and dramatically better as noise is added to the speech signal. These results seem to support some of the claims of the motor theory of speech perception and add experimental evidence of the actual usefulness of MIs in the more general framework of automated speech recognition