From Deliberative to Routine Behaviors: a Cognitively-Inspired Action Selection Mechanism for Routine Behavior Capture

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/20537

Title: From Deliberative to Routine Behaviors: a Cognitively-Inspired Action Selection Mechanism for Routine Behavior Capture
Author: Chernova, Sonia ; Arkin, Ronald C.
Abstract: Long-term human-robot interaction, especially in the case of humanoid robots, requires an adaptable and varied behavior base. In this work we present a method for capturing, or learning, sequential tasks by transferring serial behavior execution from deliberative to routine control. The incorporation of this approach leads to natural development of complex and varied behaviors, with lower demands for planning, coordination and resources. We demonstrate how this process can be performed autonomously as part of the normal function of the robot, without the need for an explicit learning stage or user guidance. The complete implementation of this algorithm on the Sony QRIO humanoid robot is described.
Type: Paper
URI: http://hdl.handle.net/1853/20537
Date: 2006-11-06
Contributor: Georgia Institute of Technology. College of Computing
Carnegie-Mellon University. Computer Science Dept.
Publisher: Georgia Institute of Technology
Subject: Autonomous behavior
Autonomous humanoid robot
Deliberative system
Human-robot interaction
Robotics

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