Abstract
Much is being done in an attempt to transfer emotional mechanisms from reverse-engineered biology into social robots. There are two basic approaches: the imitative display of emotion —e.g. to intend more human-like robots— and the provision of architectures with intrinsic emotion —in the hope of enhancing behavioral aspects. This paper focuses on the second approach, describing a core vision regarding the integration of cognitive, emotional and autonomic aspects in social robot systems. This vision has evolved as a result of the efforts in consolidating the models extracted from rat emotion research and their implementation in technical use cases based on a general systemic analysis in the framework of the ICEA and C3 projects. The desire for generality of the approach intends obtaining universal theories of integrated —autonomic, emotional, cognitive— behavior. The proposed conceptualizations and architectural principles are then captured in a theoretical framework: ASys — The Autonomous Systems Framework.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Sloman, A.: What are emotion theories about? In: AAAI Spring Symposium (March 2004)
Cassell, J., Bickmore, T., Campbell, L., Vilhjálmsson, H., Yan, H.: Human conversation as a system framework: designing embodied conversational agents. In: Embodied conversational agents, pp. 29–63. MIT Press, Cambridge (2000)
Breazeal, C., Takanishi, A., Kobayashi, T.: Social robots that interact with people. In: Siciliano, B., Khatib, O. (eds.) Springer Handbook or Robotics, pp. 1349–1369. Springer, Heidelberg (2008)
Morse, A., Lowe, R., Ziemke, T.: Towards an enactive cognitive architecture. In: International Conference on Cognitive Systems, CogSys 2008 (Accepted) (2008)
Maturana, H.R., Varela, F.G.: De Máquinas y Seres Vivos. Editorial Universitaria, Chile (1972)
Conant, R.C., Ashby, W.R.: Every good regulator of a system must be a model of that system. International Journal of Systems Science 1(2), 89–97 (1970)
Wierzbicka, A.: Defining emotion concepts. Cognitive Science 16, 539–581 (1992)
Mannella, F., Zappacosta, S., Mirolli, M., Baldassarre, G.: D22 the role of amygdala in the regulation of motivation, emotion and behaviour. Technical Report 22, The ICEA Consortium (2006)
Armony, J., Servan-Schreiber, D., Romanski, L., Cohen, J., LeDoux, J.: Stimulus generalization of fear responses: effects of auditory cortex lesions in a computational model and in rats. Cerebral Cortex 7, 157–165 (1997)
Ortony, A., Clore, G.L., Collins, A.: The Cognitive Structure of Emotions. Cambridge University Press, Cambridge (1988)
Jeannerod, M.: How do we decipher other’s emotions? In: Fellous, J.M., Arbib, M. (eds.) Who needs emotions? Oxford University Press, Oxford (2005)
LeDoux, J.: The Emotional Brain. Simon & Schuster, New York (1996)
Lowe, R., Humphries, M., Ziemke, T.: Evaluating the structural composition of a neurocomputational model of fear conditioning. Connection Science (Submitted) (2008)
Damasio, A.: The Feeling of What Happens: Body, Emotion and the Making of Consciousness. Vintage (2000)
Lowe, R., Morse, A., Ziemke, T.: An enactive approach for modelling cognition, emotions and autonomy: Predictive regulation at different levels of organizational complexity. Adaptive Behavior (to be Submitted) (2008)
Sanz, R., Segarra, M.J., de Antonio, A., Matía, F., Jiménez, A., Galán, R.: Design patterns in intelligent control systems. In: Proceedings of IFAC 14th World Congress, Beijing, China (1999)
Humphries, M.D., Stewart, R.D., Gurney, K.N.: A physiologically plausible model of action selection and oscillatory activity in the basal ganglia. The Journal of Neuroscience 26(50), 12921–12942 (2006)
Rosen, R.: Anticipatory Systems. Pergamon Press, Oxford (1985)
Rosen, R.: Life Itself: A Comprehensive Inquiry into the Nature, Origin, and Fabrication of Life. Columbia University Press (1991)
Sanz, R., López, I.: Minds, MIPS and structural feedback. In: Performance Metrics for Intelligent Systems, PerMIS 2000, Gaithersburg, USA (2000)
Sander, D., Grandjean, D., Scherer, K.R.: A systems approach to appraisal mechanisms in emotion. Neural Networks 18, 317–352 (2005)
Sanz, R., Gómez, J., Hernández, C., Alarcón, I.: Thinking with the body: Towards hierarchical scalable cognition. In: Handbook of Cognitive Science: An Embodied Approach. Elsevier, Amsterdam (2008)
Avila-Garcia, O., Cañamero, L.: Using hormonal feedback to modulate action selection in a competitive scenario. In: Schaal, S., Ijspeert, A., Billard, A., Vijayakumar, S., Hallam, J., Meyer, J.A. (eds.) From Animals to Animats 8: Proc. 8th Intl. Conf. on Simulation of Adaptive Behavior (SAB 2004), pp. 243–252. MIT Press, Cambridge (2004)
Sanz, R., López, I., Rodríguez, M., Hernández, C.: Principles for consciousness in integrated cognitive control. Neural Networks 20(9), 938–946 (2007)
Baylin, E.: Functional Modeling of Systems. Gordon and Breach, New York (1999)
Rizzolatti, G., Gallese, V.: Do perception and action result from different brain circuits? the three visual systems hypothesis. In: van Hemmen, J.L., Sejnovski, T.J. (eds.) 23 Problems in Systems Neuroscience. Oxford University Press, Oxford (2006)
Salthe, S.: Development and Evolution. MIT Press, Cambridge (1993)
Joslyn, C.: Levels of control and closure in complex semiotic systems. In: Workshop on Closure: Emergent Organizations and their Dynamics (1999)
Simon, H.A.: The Sciences of the Artificial, 2nd edn. MIT Press, Cambridge (1981)
Kasarda, M.E., Terpenny, J.P., Inman, D., Precoda, K.R., Jelesko, J., Sahin, A., Park, J.: Design for adaptability (dfad)-a new concept for achieving sustainable design. Robotics and Computer-Integrated Manufacturing 23(6), 727–734 (2007)
Klir, G.C.: An approach to general systems Theory. Van Nostrand Reinhold (1969)
Mesarovic, M., Takahara, Y.: Abstract Systems Theory. Springer, Berlin (1989)
Wymore, A.W.: Model-Based Systems Engineering. CRC Press, Boca Raton (1993)
Lawvere, F.W., Schanuel, S.H.: Conceptual Mathematics: A first introduction to categories. Cambridge University Press, Cambridge (1997)
Bayliss, L.: Living Control Systems. The English University Press, London (1996)
Bosse, T., Jonker, C.M., Treur, J.: Formalisation of damasio’s theory of emotion, feeling and core consciousness. Consciousness and Cognitio (In Press) (2008)
OMG: Omg SysML specification. OMG Adopted Specification ptc/06-05-04, Object Managemnt Group (2006)
OMG: Corba component model. release 4.0. Technical Report Document - formal/06-04-01, Object Management Group, Falls Church, USA (2006)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Sanz, R., Hernández, C., Hernando, A., Gómez, J., Bermejo, J. (2009). Grounding Robot Autonomy in Emotion and Self-awareness. In: Kim, JH., et al. Advances in Robotics. FIRA 2009. Lecture Notes in Computer Science, vol 5744. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03983-6_7
Download citation
DOI: https://doi.org/10.1007/978-3-642-03983-6_7
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-03982-9
Online ISBN: 978-3-642-03983-6
eBook Packages: Computer ScienceComputer Science (R0)