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Proceedings Paper

Mental models for cognitive control
Author(s): Malte Schilling; Holk Cruse; Josef Schmitz
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Paper Abstract

Even so called "simple" organisms as insects are able to fastly adapt to changing conditions of their environment. Their behaviour is affected by many external influences and only its variability and adaptivity permits their survival. An intensively studied example concerns hexapod walking.1,2 Complex walking behaviours in stick insects have been analysed and the results were used to construct a reactive model that controls walking in a robot. This model is now extended by higher levels of control: as a bottom-up approach the low-level reactive behaviours are modulated and activated through a medium level. In addition, the system grows up to an upper level for cognitive control of the robot: Cognition - as the ability to plan ahead - and cognitive skills involve internal representations of the subject itself and its environment. These representations are used for mental simulations: In difficult situations, for which neither motor primitives, nor whole sequences of these exist, available behaviours are varied and applied in the internal model while the body itself is decoupled from the controlling modules. The result of the internal simulation is evaluated. Successful actions are learned and applied to the robot. This constitutes a level for planning. Its elements (movements, behaviours) are embodied in the lower levels, whereby their meaning arises directly from these levels. The motor primitives are situation models represented as neural networks. The focus of this work concerns the general architecture of the framework as well as the reactive basic layer of the bottom-up architecture and its connection to higher level functions and its application on an internal model.

Paper Details

Date Published: 22 May 2007
PDF: 14 pages
Proc. SPIE 6592, Bioengineered and Bioinspired Systems III, 659208 (22 May 2007); doi: 10.1117/12.721968
Show Author Affiliations
Malte Schilling, Univ. of Bielefeld (Germany)
Holk Cruse, Univ. of Bielefeld (Germany)
Josef Schmitz, Univ. of Bielefeld (Germany)

Published in SPIE Proceedings Vol. 6592:
Bioengineered and Bioinspired Systems III
Paolo Arena; Ángel Rodríguez-Vázquez; Gustavo Liñán-Cembrano, Editor(s)

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