Toward combining autonomy and interactivity for social robots |
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Authors: | Yasser Mohammad Toyoaki Nishida |
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Affiliation: | (1) Graduate School of Informatics, Kyoto University, Yoshida-Honmachi, Sakyo-ku Kyoto, 606-8501, Japan |
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Abstract: | The success of social robots in achieving natural coexistence with humans depends on both their level of autonomy and their
interactive abilities. Although a lot of robotic architectures have been suggested and many researchers have focused on human–robot
interaction, a robotic architecture that can effectively combine interactivity and autonomy is still unavailable. This paper
contributes to the research efforts toward this architecture in the following ways. First a theoretical analysis is provided
that leads to the notion of co-evolution between the agent and its environment and with other agents as the condition needed
to combine both autonomy and interactivity. The analysis also shows that the basic competencies needed to achieve the required
level of autonomy and the envisioned level of interactivity are similar but not the same. Secondly nine specific requirements
are then formalized that should be achieved by the architecture. Thirdly a robotic architecture that tries to achieve those
requirements by utilizing two main theoretical hypothesis and several insights from social science, developmental psychology
and neuroscience is detailed. Lastly two experiments with a humanoid robot and a simulated agent are reported to show the
potential of the proposed architecture. |
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