The iCub cognitive architecture: Interactive development in a humanoid robot

Abstract

This paper describes the design of a cognitive architecture for the iCub : an open-systems 53 degree-of-freedom cognitive humanoid robot. At 94 cm tall, the iCub is the same size as a three year-old child and is designed to be able to crawl on all fours and sit up. Its hands will allow dexterous manipulation, its head and eyes are fully articulated, and it has visual, vestibular, auditory, and haptic sensory capabilities. We begin by reviewing briefly the enactive approach to cognition, highlighting the requirements for phylogenetic configuration, the necessity for ontogenetic development, and the importance of humanoid embodiment. After a short look at the the iCub's mechanical and electronic specifications, we detail the iCub cognitive architecture, addressing the iCub phylogeny, i.e. the robot's intended innate abilities, the modulation of these skills by circuits inspired by the functionality of the hippocampus, basal ganglia, and amygdala. The architecture also include a prospective ability whereby sensorimotor behaviours can be simulated and then used to influence the action selection in the basal ganglia. We conclude by outlining our scenario for ontogenesis based on human neo-natal development.