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(2014) Contemporary sensorimotor theory, Dordrecht, Springer.
Minimally cognitive robotics
body schema, forward models, and sensorimotor contingencies in a quadruped machine
Matej Hoffmann
pp. 209-233
In response to the cognitivistic paradigm and its problems, the embodied cognition viewpoint was proposed. In robotics, this resulted in a radical move away from higher-level cognitive functions toward direct, almost "brain-less" interaction with the environment (e.g., behavior-based robotics). While some remarkable behaviors were demonstrated, the complexity of tasks the agents could master remained limited. A natural extension of this approach lies in letting the agents extract regularities in sensorimotor space and exploit them for more effective action guidance. We will use a collection of case studies featuring a quadruped robot to concretely explore this space of minimally cognitive phenomena and contrast the concepts of body schema, forward internal models, and sensorimotor contingencies. The results will be interpreted from a "grounded cognition" and a non-representationalist or enactive perspective. Finally, the utility of robots as cognitive science tools and their compatibility with different cognitive science paradigms will be discussed.
Publication details
DOI: 10.1007/978-3-319-05107-9_15
Full citation:
Hoffmann, M. (2014)., Minimally cognitive robotics: body schema, forward models, and sensorimotor contingencies in a quadruped machine, in A. O. Martin (ed.), Contemporary sensorimotor theory, Dordrecht, Springer, pp. 209-233.
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