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dc.contributor.authorUgur, E.
dc.contributor.authorNagai, Y.
dc.contributor.authorSahin, E.
dc.contributor.authorÖztop, Erhan
dc.date.accessioned2015-10-30T08:21:40Z
dc.date.available2015-10-30T08:21:40Z
dc.date.issued2015-06
dc.identifier.issn1943-0604
dc.identifier.urihttp://hdl.handle.net/10679/1000
dc.identifier.urihttp://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7094253
dc.description.abstractInspired by infant development, we propose a three staged developmental framework for an anthropomorphic robot manipulator. In the first stage, the robot is initialized with a basic reach-and- enclose-on-contact movement capability, and discovers a set of behavior primitives by exploring its movement parameter space. In the next stage, the robot exercises the discovered behaviors on different objects, and learns the caused effects; effectively building a library of affordances and associated predictors. Finally, in the third stage, the learned structures and predictors are used to bootstrap complex imitation and action learning with the help of a cooperative tutor. The main contribution of this paper is the realization of an integrated developmental system where the structures emerging from the sensorimotor experience of an interacting real robot are used as the sole building blocks of the subsequent stages that generate increasingly more complex cognitive capabilities. The proposed framework includes a number of common features with infant sensorimotor development. Furthermore, the findings obtained from the self-exploration and motionese guided human-robot interaction experiments allow us to reason about the underlying mechanisms of simple-to-complex sensorimotor skill progression in human infants.en_US
dc.description.sponsorshipEuropean Community ; JSPS/MEXT ; Ministry of Internal Affairs and Communications, Japan.
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.relationinfo:eu-repo/grantAgreement/EC/FP7/270273en_US
dc.relationinfo:eu-repo/grantAgreement/EC/FP7/321700en_US
dc.relationinfo:eu-repo/grantAgreement/EC/FP7/628854en_US
dc.relation.ispartofIEEE Transactions on Autonomous Mental Development
dc.rightsopenAccess
dc.titleStaged development of robot skills: behavior formation, affordance learning and imitationen_US
dc.typeArticleen_US
dc.description.versionpost-print
dc.peerreviewedyesen_US
dc.publicationstatuspublisheden_US
dc.contributor.departmentÖzyeğin University
dc.contributor.authorID(ORCID 0000-0002-3051-6038 & YÖK ID 45227) Öztop, Erhan
dc.contributor.ozuauthorÖztop, Erhan
dc.identifier.volume7
dc.identifier.issue2
dc.identifier.wosWOS:000356164500005
dc.identifier.doi10.1109/TAMD.2015.2426192
dc.subject.keywordsAffordanceen_US
dc.subject.keywordsDevelopmental roboticsen_US
dc.subject.keywordsGoal emulationen_US
dc.subject.keywordsImitationen_US
dc.subject.keywordsMotioneseen_US
dc.subject.keywordsSensorimotor learningen_US
dc.identifier.scopusSCOPUS:2-s2.0-84933505617
dc.contributor.authorMale1


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