Causality: models, reasoning, and inference
Causality: models, reasoning, and inference
Robot tool behavior: a developmental approach to autonomous tool use
Robot tool behavior: a developmental approach to autonomous tool use
Using probabilistic reasoning over time to self-recognize
Robotics and Autonomous Systems
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This paper addresses the problem of self-detection by a robot. The paper describes a methodology for autonomous learning of the characteristic delay between motor commands (efferent signals) and observed movements of visual stimuli (afferent signals). The robot estimates its own efferent-afferent delay from self-observation data gathered while performing motor babbling, i.e., random rhythmic movements similar to the primary circular reactions described by Piaget. After the efferent-afferent delay is estimated, the robot imprints on that delay and can later use it to successfully classify visual stimuli as either ???self??? or ???other.??? Results from robot experiments performed in environments with increasing degrees of difficulty are reported.