自主环境认知的发育机器人发育模型

Development model of autonomous developing robots with independent environmental cognition

发育模型是目前具有自主认知能力的发育机器人研究的热点,为解决发育模型问题,定义了发育机器人的体系结构,以及信息处理流程中的算法问题,并针对现有模型不能解决机器人"诱拐"问题,给出了一个任务驱动的发育模型。该模型结构将具有自主环境感知能力的发育机器人结构分为3层:物理层、信号处理层以及发育层。其中,物理层由传感系统、执行机构以及机器人本体组成;信号处理层主要负责实现传感信号的处理;发育层是发育机器人的核心,由特征提取与发育体组成,特征提取可以将大量的传感数据压缩到很少的几维以方便处理,发育体是整个系统的决策机构,负责感知与动作的匹配。

Development model is a hot topic in the field of autonomous developing robots with independent environmental cognition.The main architecture of autonomous developing robots was defined,and the information processing flowchart of algorithm was illustrated.Meanwhile,a task-driven development model was provided regards to the ＂abduction＂ problem which cannot be solved by the current model.The structure of the model was divided into three layers：a physical layer,a signal processing layer and a development layer.The physical layer is composed of the sensor system,the executive mechanism and a robot body; the signal processing layer is mainly responsible for the realization of sensor signal processing; and the development layer is the core layer in developing the robot,which is made up of feature extraction and body development,among which the feature extraction can compress the enormous sensor data into a few dimension to facilitate processing,and the body development determines the entire system,aiming at the match of sense and its action.