Abstract
The paper presents a manipulator arm that is able to acquire primitive reasoning abilities from the pure coordination of perception and action. First, the problem of dynamic collision avoidance is considered, as a test-bed for autonomous coordination of perception and action. The paper introduces a biomimetic approach that departs from the conventional, analytical approach, as it does not employ formal descriptions of the locations and shape of the obstacles, nor does it solve the kinematic equations of the robotic arm. Instead, the method follows the perception-reason-action cycle and is based on a reinforcement learning process guided by perceptual feedback. From this perspective, obstacle avoidance is modeled as a multi- objective optimization process. The paper also investigates the possibilities for the robot to acquire a very simple reasoning ability by means of if-then-else rules, that trascend its previous reactive behaviors based on pure interaction between perception and action.
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Maravall, D., de Lope, J. (2003). Emergent Reasoning from Coordination of Perception and Action: An Example Taken from Robotics. In: Moreno-Díaz, R., Pichler, F. (eds) Computer Aided Systems Theory - EUROCAST 2003. EUROCAST 2003. Lecture Notes in Computer Science, vol 2809. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-45210-2_40
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DOI: https://doi.org/10.1007/978-3-540-45210-2_40
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