Knowledge Commons of Institute of Automation,CAS
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 | |
发表期刊 | COGNITIVE COMPUTATION |
2018-04-01 | |
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 |
DOI | 10.1007/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 | 脑图谱与类脑智能实验室_类脑认知计算 |
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 |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | 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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