A Bio-Inspired Endogenous Attention-Based Architecture for a Social Robot
A robust perception system is crucial for natural human–robot interaction. An essential capability of these systems is to provide a rich representation of the robot’s environment, typically using multiple sensory sources. Moreover, this information allows the robot to react to both external stimuli...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-07-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/22/14/5248 |
| _version_ | 1827604332444385280 |
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| author | Sara Marques-Villarroya Jose Carlos Castillo Juan José Gamboa-Montero Javier Sevilla-Salcedo Miguel Angel Salichs |
| author_facet | Sara Marques-Villarroya Jose Carlos Castillo Juan José Gamboa-Montero Javier Sevilla-Salcedo Miguel Angel Salichs |
| author_sort | Sara Marques-Villarroya |
| collection | DOAJ |
| description | A robust perception system is crucial for natural human–robot interaction. An essential capability of these systems is to provide a rich representation of the robot’s environment, typically using multiple sensory sources. Moreover, this information allows the robot to react to both external stimuli and user responses. The novel contribution of this paper is the development of a perception architecture, which was based on the bio-inspired concept of <i>endogenous attention</i> being integrated into a real social robot. In this paper, the architecture is defined at a theoretical level to provide insights into the underlying bio-inspired mechanisms and at a practical level to integrate and test the architecture within the complete architecture of a robot. We also defined mechanisms to establish the most salient stimulus for the detection or task in question. Furthermore, the attention-based architecture uses information from the robot’s decision-making system to produce user responses and robot decisions. Finally, this paper also presents the preliminary test results from the integration of this architecture into a real social robot. |
| first_indexed | 2024-03-09T05:57:32Z |
| format | Article |
| id | doaj.art-b5f0c7ae80584a61aa834a604e2389f3 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T05:57:32Z |
| publishDate | 2022-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-b5f0c7ae80584a61aa834a604e2389f32023-12-03T12:12:48ZengMDPI AGSensors1424-82202022-07-012214524810.3390/s22145248A Bio-Inspired Endogenous Attention-Based Architecture for a Social RobotSara Marques-Villarroya0Jose Carlos Castillo1Juan José Gamboa-Montero2Javier Sevilla-Salcedo3Miguel Angel Salichs4RoboticsLab, Universidad Carlos III de Madrid, 28911 Leganés, SpainRoboticsLab, Universidad Carlos III de Madrid, 28911 Leganés, SpainRoboticsLab, Universidad Carlos III de Madrid, 28911 Leganés, SpainRoboticsLab, Universidad Carlos III de Madrid, 28911 Leganés, SpainRoboticsLab, Universidad Carlos III de Madrid, 28911 Leganés, SpainA robust perception system is crucial for natural human–robot interaction. An essential capability of these systems is to provide a rich representation of the robot’s environment, typically using multiple sensory sources. Moreover, this information allows the robot to react to both external stimuli and user responses. The novel contribution of this paper is the development of a perception architecture, which was based on the bio-inspired concept of <i>endogenous attention</i> being integrated into a real social robot. In this paper, the architecture is defined at a theoretical level to provide insights into the underlying bio-inspired mechanisms and at a practical level to integrate and test the architecture within the complete architecture of a robot. We also defined mechanisms to establish the most salient stimulus for the detection or task in question. Furthermore, the attention-based architecture uses information from the robot’s decision-making system to produce user responses and robot decisions. Finally, this paper also presents the preliminary test results from the integration of this architecture into a real social robot.https://www.mdpi.com/1424-8220/22/14/5248perceptionsocial robotsbio-inspired attentionhuman–robot interaction |
| spellingShingle | Sara Marques-Villarroya Jose Carlos Castillo Juan José Gamboa-Montero Javier Sevilla-Salcedo Miguel Angel Salichs A Bio-Inspired Endogenous Attention-Based Architecture for a Social Robot Sensors perception social robots bio-inspired attention human–robot interaction |
| title | A Bio-Inspired Endogenous Attention-Based Architecture for a Social Robot |
| title_full | A Bio-Inspired Endogenous Attention-Based Architecture for a Social Robot |
| title_fullStr | A Bio-Inspired Endogenous Attention-Based Architecture for a Social Robot |
| title_full_unstemmed | A Bio-Inspired Endogenous Attention-Based Architecture for a Social Robot |
| title_short | A Bio-Inspired Endogenous Attention-Based Architecture for a Social Robot |
| title_sort | bio inspired endogenous attention based architecture for a social robot |
| topic | perception social robots bio-inspired attention human–robot interaction |
| url | https://www.mdpi.com/1424-8220/22/14/5248 |
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