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HiMoP: A three-component architecture to create more human-acceptable social-assistive robots

Motivational architecture for assistive robots

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Abstract

Generation of autonomous behavior for robots is a general unsolved problem. Users perceive robots as repetitive tools that do not respond to dynamic situations. This research deals with the generation of natural behaviors in assistive service robots for dynamic domestic environments, particularly, a motivational-oriented cognitive architecture to generate more natural behaviors in autonomous robots. The proposed architecture, called HiMoP, is based on three elements: a Hierarchy of needs to define robot drives; a set of Motivational variables connected to robot needs; and a Pool of finite-state machines to run robot behaviors. The first element is inspired in Alderfer’s hierarchy of needs, which specifies the variables defined in the motivational component. The pool of finite-state machine implements the available robot actions, and those actions are dynamically selected taking into account the motivational variables and the external stimuli. Thus, the robot is able to exhibit different behaviors even under similar conditions. A customized version of the “Speech Recognition and Audio Detection Test,” proposed by the RoboCup Federation, has been used to illustrate how the architecture works and how it dynamically adapts and activates robots behaviors taking into account internal variables and external stimuli.

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Acknowledgements

This work has been partially funded by Junta de Castilla y Leon and FEDER funds under Research Grant No. LE028P17.

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Authors and Affiliations

  1. CSC Research Unit, University of Luxembourg, Esch-sur-Alzette, Luxembourg

    Francisco J. Rodríguez-Lera

  2. Grupo de Robótica, Universidad de León, León, Spain

    Vicente Matellán-Olivera & Miguel Á. Conde-González

  3. Grupo de Robótica, Universidad Rey Juan Carlos, Madrid, Spain

    Francisco Martín-Rico

Authors
  1. Francisco J. Rodríguez-Lera
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  2. Vicente Matellán-Olivera
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  3. Miguel Á. Conde-González
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  4. Francisco Martín-Rico
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Corresponding author

Correspondence to Francisco J. Rodríguez-Lera.

Additional information

This article is part of the Special Issue on ‘Cognitive Robotics’ guest-edited by Antonio Bandera, Jorge Dias, and Luis Manso.

Handling editor: Luis Manso (University of Extremadura). Reviewers: Marco A. Gutierrez (University of Extremadura), Luis D’Haro (Institute for Infocomm Research, Singapore), Fernanda Mota (Federal University of Rio Grande)

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Rodríguez-Lera, F.J., Matellán-Olivera, V., Conde-González, M.Á. et al. HiMoP: A three-component architecture to create more human-acceptable social-assistive robots. Cogn Process 19, 233–244 (2018). https://doi.org/10.1007/s10339-017-0850-5

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  • DOI: https://doi.org/10.1007/s10339-017-0850-5

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