Abstract
Based on indications from neuroscience and psychology, both perception and action can be internally simulated in or- ganisms by activating sensory and/or motor areas in the brain without actual external sensory input and/or without any resulting behavior (a phenomenon called Thinking). This phenomenon is usually used by the organisms to cope with missing external inputs. Applying such phenomenon in a real robot recently has taken the attention of many researchers. Although some work has been reported on this issue, none of this work has so far considered the potential of the robot’s vision at the sensorimotor abstraction level, where extracting data from the environment takes place. In this study, a novel visiomotor abstraction is presented into a physical robot through a memory-based learning algorithm. Experi- mental results indicate that our robot with its vision could develop a kind of simple anticipation mechanism into its tree-type memory structure through interacting with the environment which would guide its behavior in the absence of external inputs.
Highlights
Real world applications are usually subject to change and very difficult to be predicted
Experimental results indicate that our robot with its vision could develop a kind of simple anticipation mechanism into its tree-type memory structure through interacting with the environment which would guide its behavior in the absence of external inputs
Said in a different and operational way, it is the ability of a robot to perform blindfolded navigation, where the robot navigates within a known environment using only its internal representation
Summary
Real world applications are usually subject to change and very difficult to be predicted. Any sudden changes in the environment can possibly cause temporary lose in communication with the external world. Some organisms, those that have the ability of cognition or thinking, can cope with such situations by replacing the external missing or corrupted sensory data with their own internal representation (or experience). In [5], for instance, the author describes development of three simulation hypotheses in order to explain the robot’s inner world. This was discussed by Stening in [7]; and we summarized it . More information regarding each assumption is given by [5,7]
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