Ben Mitchinson
The emergence of action sequences from spatial
attention: Insight from rodent-like robots
Mitchinson, Ben; Pearson, Martin; Pipe, Anthony G.; Prescott, Tony J.
Authors
Martin Pearson Martin.Pearson@uwe.ac.uk
Senior Lecturer
Tony Pipe Anthony.Pipe@uwe.ac.uk
Professor
Tony J. Prescott
Abstract
Animal behaviour is rich, varied, and smoothly integrated. One plausible model of its generation is that behavioural sub-systems compete to command effectors. In small terrestrial mammals, many behaviours are underpinned by foveation, since important effectors (teeth, tongue) are co-located with foveal sensors (microvibrissae, lips, nose), suggesting a central role for foveal selection and foveation in generating behaviour. This, along with research on primate visual attention, inspires an alternative hypothesis, that integrated behaviour can be understood as sequences of foveations with selection being amongst foveation targets based on their salience. Here, we investigate control architectures for a biomimetic robot equipped with a rodent-like vibrissal tactile sensing system, explicitly comparing a salience map model for action guidance with an earlier model implementing behaviour selection. Both architectures generate life-like action sequences, but in the salience map version higher-level behaviours are an emergent consequence of following a shifting focus of attention.
Citation
attention: Insight from rodent-like robots. Paper presented at Living Machines 2012, Barcelona, Spain
Presentation Conference Type | Conference Paper (unpublished) |
---|---|
Conference Name | Living Machines 2012 |
Conference Location | Barcelona, Spain |
Start Date | Jul 1, 2012 |
End Date | Jul 1, 2012 |
Publication Date | Jul 1, 2012 |
Deposit Date | Jan 21, 2013 |
Publicly Available Date | Feb 10, 2016 |
Peer Reviewed | Peer Reviewed |
Keywords | brain-based robotics, action selection, tactile sensing, be- havioural integration, saliency map |
Public URL | https://uwe-repository.worktribe.com/output/945838 |
Additional Information | Title of Conference or Conference Proceedings : Biomimetic and Biohybrid Systems |
Files
LM2012_67206_3_final.pdf
(2.5 Mb)
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