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Toward Robot Self-Consciousness (II): Brain-Inspired Robot Bodily Self Model for Self-Recognition
Zeng, Yi1,2,3; Zhao, Yuxuan1; Bai, Jun1; Xu, Bo1,2,3
2018-04-01
发表期刊COGNITIVE COMPUTATION
卷号10期号:2页码:307-320
文章类型Article
摘要The neural correlates and nature of self-consciousness is an advanced topic in Cognitive Neuroscience. Only a few animal species have been testified to be with this cognitive ability. From artificial intelligence and robotics point of view, few efforts are deeply rooted in the neural correlates and brain mechanisms of biological self-consciousness. Despite the fact that the scientific understanding of biological self-consciousness is still in preliminary stage, we make our efforts to integrate and adopt known biological findings of self-consciousness to build a brain-inspired model for robot self-consciousness. In this paper, we propose a brain-inspired robot bodily self model based on extensions to primate mirror neuron system and apply it to humanoid robot for self recognition. In this model, the robot firstly learns the correlations between self-generated actions and visual feedbacks in motion by learning with spike timing dependent plasticity (STDP), and then learns the appearance of body part with the expectation that the visual feedback is consistent with its motion. Based on this model, the robot uses multisensory integration to learn its own body in real world and in mirror. Then it can distinguish itself from others. In a mirror test setting with three robots with the same appearance, with the proposed brain-inspired robot bodily self model, each of them can recognize itself in the mirror after these robots make random movements at the same time. The theoretic modeling and experimental validations indicate that the brain-inspired robot bodily self model is biologically inspired, and computationally feasible as a foundation for robot self recognition.
关键词Robot Self-consciousness Robot Bodily Self Model Stdp Learning Self-recognition
WOS标题词Science & Technology ; Technology ; Life Sciences & Biomedicine
DOI10.1007/s12559-017-9505-1
关键词[WOS]MIRROR NEURON SYSTEM ; FACE RECOGNITION ; OBJECT RECOGNITION ; SCHIZOPHRENIA ; METAANALYSIS ; DYSFUNCTION ; MOTION ; FMRI ; BODY ; PERCEPTION
收录类别SCI ; SSCI
语种英语
项目资助者Strategic Priority Research Program of the Chinese Academy of Sciences(XDB02060007) ; Beijing Municipal Commission of Science and Technology(Z161100000216124)
WOS研究方向Computer Science ; Neurosciences & Neurology
WOS类目Computer Science, Artificial Intelligence ; Neurosciences
WOS记录号WOS:000430190600011
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/15380
专题类脑智能研究中心
作者单位1.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
2.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai, Peoples R China
3.Univ Chinese Acad Sci, Beijing, Peoples R China
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Zeng, Yi,Zhao, Yuxuan,Bai, Jun,et al. Toward Robot Self-Consciousness (II): Brain-Inspired Robot Bodily Self Model for Self-Recognition[J]. COGNITIVE COMPUTATION,2018,10(2):307-320.
APA Zeng, Yi,Zhao, Yuxuan,Bai, Jun,&Xu, Bo.(2018).Toward Robot Self-Consciousness (II): Brain-Inspired Robot Bodily Self Model for Self-Recognition.COGNITIVE COMPUTATION,10(2),307-320.
MLA Zeng, Yi,et al."Toward Robot Self-Consciousness (II): Brain-Inspired Robot Bodily Self Model for Self-Recognition".COGNITIVE COMPUTATION 10.2(2018):307-320.
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