Action Development and Integration in an Humanoid iCub Robot

Abstract

One major challenge in adaptive/developmental robotics is constituted by the need to identify design principles that allow robots to acquire and display different behavioral skills by consistently and scalably integrating new behaviors into their existing behavioral repertoire. In this paper we briefly present a novel method that can address this objective, the theoretical background behind the proposed methodology, and the preliminary results obtained in a series of experiments in which a humanoid iCub robot develops progressively more complex object manipulation skills through an incremental language mediated training process.