Enactive self: A study of engineering perspectives to obtain the sensorimotor self through enaction

机译：主动自我：研究通过主动获得感觉运动自我的工程观点

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In this paper we discuss the enactive self from a computational point of view and study the suitability of current methods to instantiate it onto robots. As an assumption, we consider any cognitive agent as an autonomous system that constructs its identity by continuous interaction with the environment. We start examining algorithms to learn the body-schema and to enable tool-extension, and we finalize by studying their viability for generalizing the enactive self computational model. This paper points out promising techniques for bodily self-modelling and exploration, as well as formally link sensorimotor models with differential kinematics. Although the study is restricted to basic sensorimotor construction of the self, some of the analysed works also traverse into more complex self constructions with a social component. Furthermore, we discuss the main gaps of current engineering approaches for modelling enactive robots and describe the main characteristics that a synthetic sensorimotor self-model should present.

机译：在本文中，我们从计算的角度讨论了主动型自我，并研究了将其实例化到机器人上的当前方法的适用性。作为一个假设，我们认为任何认知主体都是通过与环境的持续交互来构建其身份的自治系统。我们开始研究算法以学习人体模式并启用工具扩展，然后通过研究算法的可行性来确定主动自我计算模型的适用性来最终确定算法。本文指出了有前途的身体自我建模和探索技术，以及将感觉运动模型与微分运动学正式联系起来的技术。尽管研究仅限于自我的基本感觉运动建构，但其中一些分析著作也遍历了具有社会成分的更复杂的自我建构。此外，我们讨论了用于建模主动机器人的当前工程方法的主要空白，并描述了合成感觉电机自模型应该呈现的主要特征。

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《Joint IEEE International Conference on Development and Learning and Epigenetic Robotics》|2017年|72-78|共7页
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Pablo Lanillos; Emmanuel Dean-Leon; Gordon Cheng;
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Robot sensing systems; Computational modeling; Adaptation models; Robot kinematics; Kinematics;

机译：机器人传感系统;计算建模;适应模型;机器人运动学;运动学;

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1. Editorial: Re-Enacting Sensorimotor Experience for Cognition [J] . Schillaci Guido, Hafner Verena V., Lara Bruno Frontiers in Robotics and AI . 2016,第2期

机译：社论：重现认知感觉体验
2. The memorization of in-line sensorimotor invariants: toward behavioral ontogeny and enactive agents [J] . Pierre De Loor, Kristen Manach, Pierre Chevaillier Artificial life and robotics . 2014,第2期

机译：在线感觉运动不变量的记忆：针对行为本体论和活性剂
3. Face to face with an enactive approach: A sensorimotor account of face detection and recognition [J] . Aaron Kagan Phenomenology and the Cognitive Sciences . 2007,第4期

机译：主动面对面：感知和识别面部感觉的运动
4. Enactive self: A study of engineering perspectives to obtain the sensorimotor self through enaction [C] . Pablo Lanillos, Emmanuel Dean-Leon, Gordon Cheng Joint IEEE International Conference on Development and Learning and Epigenetic Robotics . 2017

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Enactive self: A study of engineering perspectives to obtain the sensorimotor self through enaction

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