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Self-detection in robots: a method based on detecting temporal contingencies †
Alexander Stoytchev
Journal:

Robotica / Volume 29 / Issue 1 / January 2011

Published online by Cambridge University Press:

14 January 2011, pp. 1-21
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This paper addresses the problem of self-detection by a robot. The paper describes a methodology for autonomous learning of the characteristic delay between motor commands (efferent signals) and observed movements of visual stimuli (afferent signals). The robot estimates its own efferent-afferent delay from self-observation data gathered while performing motor babbling, i.e., random rhythmic movements similar to the primary circular reactions described by Piaget. After the efferent-afferent delay is estimated, the robot imprints on that delay and can later use it to successfully classify visual stimuli as either “self” or “other.” Results from robot experiments performed in environments with increasing degrees of difficulty are reported.

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Self-detection in robots: a method based on detecting temporal contingencies †

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Self-detection in robots: a method based on detecting temporal contingencies†

Self-detection in robots: a method based on detecting temporal contingencies †