A Computational Cognition and Visual Servoing Based Methodology to Design Automatic Manipulative Tasks

• Published in: Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics
• Main Authors: Ferreira Chame, Hendry, Martinet, Philippe
• Other Authors: Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)
• Format: Conference Object
• Language: English
• Published: HAL CCSD 2013
• Subjects: Cognitive Robotics; Computational Cognition; Artificial Intelligence; Visual Servoing; [SPI.AUTO]Engineering Sciences [physics]/Automatic; [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI]; Reykjavík; Iceland
• Online Access: https://hal.science/hal-01230682; https://hal.science/hal-01230682/document; https://hal.science/hal-01230682/file/paper147.pdf; https://doi.org/10.5220/0004480802130220

International audience In the last decades, robotics has exerted an important role in the research on diverse knowledge domains, such as, artificial intelligence, biology, neuroscience and psychology. In particular, the study of knowledge representation and thinking, has led to the proposal of cognitive architectures; capturing essential structures and processes of cognition and behavior. Robotists have also attempted to design automatic systems using these proposals. Though, certain difficulties have been reported for obtaining efficient low-level processing while sensing or controlling the robot. The main challenges involve the treatment of the differences between the computational paradigms employed by the cognitive and the robotic architectures. The objective of this work, is to propose a methodology for designing robotic systems capable of decision making and learning when executing manipulative tasks. The development of a system called the Cognitive Reaching Robot (CRR) will be reported. CRR combines the advantages of using a psychologically-oriented cognitive architecture, with efficient low-level behavior implementations through the visual servoing control technique.