Toward Robot Self-Consciousness (II): Brain-Inspired Robot Bodily Self Model for Self-Recognition

doi:10.1007/s12559-017-9505-1

	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
刊名	COGNITIVE COMPUTATION
	2018-04-01
卷号	10 期号:2 页码:307-320
关键词	Robot Self-consciousness Robot Bodily Self Model Stdp Learning Self-recognition
DOI	10.1007/s12559-017-9505-1
文献子类	Article
英文摘要	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.
WOS关键词	MIRROR NEURON SYSTEM ; FACE RECOGNITION ; OBJECT RECOGNITION ; SCHIZOPHRENIA ; METAANALYSIS ; DYSFUNCTION ; MOTION ; FMRI ; BODY ; PERCEPTION
WOS研究方向	Computer Science ; Neurosciences & Neurology
语种	英语
WOS记录号	WOS:000430190600011
资助机构	Strategic Priority Research Program of the Chinese Academy of Sciences(XDB02060007) ; Beijing Municipal Commission of Science and Technology(Z161100000216124)
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/15380]
专题	自动化研究所_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
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.