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Bioinspired decision-making for a socially interactive robot
- Source :
- e-Archivo. Repositorio Institucional de la Universidad Carlos III de Madrid, instname
- Publication Year :
- 2019
- Publisher :
- Elsevier, 2019.
-
Abstract
- Nowadays, robots and humans coexist in real settings where robots need to interact autonomously making their own decisions. Many applications require that robots adapt their behavior to different users and remember each user’s preferences to engage them in the interaction. To this end, we propose a decision making system for social robots that drives their actions taking into account the user and the robot’s state. This system is based on bio-inspired concepts, such as motivations, drives and wellbeing, that facilitate the rise of natural behaviors to ease the acceptance of the robot by the users. The system has been designed to promote the human-robot interaction by using drives and motivations related with social aspects, such as the users’ satisfaction or the need of social interaction. Furthermore, the changes of state produced by the users’ exogenous actions have been modeled as transitional states that are considered when the next robot’s action has to be selected. Our system has been evaluated considering two different user profiles. In the proposed system, user’s preferences are considered and alter the homeostatic process that controls the decision making system. As a result, using reinforcement learning algorithms and considering the robot’s wellbeing as the reward function, the social robot Mini has learned from scratch two different policies of action, one for each user, that fit the users’ preferences. The robot learned behaviors that maximize its wellbeing as well as keep the users engaged in the interactions. The research leading to these results has received funding from the projects: Development of social robots to help seniors with cognitive impairment (ROBSEN), funded by the Ministerio de Economía y Competitividad (DPI2014-57684-R); and RoboCity2030-III-CM, funded by Comunidad de Madrid and cofunded by Structural Funds of the EU (S2013/MIT-2748). Publicado
- Subjects :
- Computer science
Cognitive Neuroscience
media_common.quotation_subject
Artificial motivations
Robótica e Informática Industrial
Experimental and Cognitive Psychology
02 engineering and technology
03 medical and health sciences
0302 clinical medicine
Artificial Intelligence
Human–computer interaction
Autonomous robots
0202 electrical engineering, electronic engineering, information engineering
Reinforcement learning
Function (engineering)
media_common
Interactive robot
Social robot
Learning behaviors
Social relation
Action (philosophy)
Robot
020201 artificial intelligence & image processing
State (computer science)
Decision making system
Human-robot interaction
030217 neurology & neurosurgery
Software
Subjects
Details
- Language :
- English
- Database :
- OpenAIRE
- Journal :
- e-Archivo. Repositorio Institucional de la Universidad Carlos III de Madrid, instname
- Accession number :
- edsair.doi.dedup.....3149c78ffc8f28f2b91c875a6c92fd01