A Software Framework for Cognition, Embodiment, Dynamics, and Autonomy in Robotics: cedar

摘要

We present cedar, a software framework for the implementation and simulation of embodied cognitive models based on Dynamic Field Theory (DFT). DFT is a neurally inspired theoretical framework that integrates perception, action, and cognition. cedar captures the power of DFT in software by facilitating the process of software development for embodied cognitive systems, both artificial and as models of human cognition. In cedar, models can be designed through a graphical interface and interactively tuned. We demonstrate this by implementing an exemplary robotic architecture.