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Title page for ETD etd-09172007-203014

Type of Document Master's Thesis
Author Hall III, Joseph Franklin
URN etd-09172007-203014
Title Internal rehearsal for a cognitive robot using collision detection
Degree Master of Science
Department Electrical Engineering
Advisory Committee
Advisor Name Title
Professor Kazuhiko Kawamura Committee Chair
Professor D. Mitch Wilkes Committee Co-Chair
  • internal rehearsal system
  • FRA
  • first-order response agent
  • central executive agent
  • self agent
  • internal rehearsal
  • collision detection
  • CEA
  • IRS
  • Androids -- Design and construction
  • Robots -- Control systems
Date of Defense 2007-09-13
Availability unrestricted
Internal rehearsal is a relatively new research area allowing a robot to contemplate the consequences of its actions before they are attempted by the actuation system. This thesis focuses on integrating internal rehearsal into the area of collision detection.

This thesis was inspired by Murray Shanahan’s work involving brain-based robotic internal simulation. This research explores how internal rehearsal, by using a collision detection method via collision spheres, may enhance task execution. When the cognitive robot ISAC performs a task involving percepts and arm behaviors, the Internal Rehearsal System (IRS), with a help from the Central Executive Agent, performs this task internally and determines if a collision occurs. The CEA Internal rehearsal covered in this thesis involves a pair of one percept (stored in the short-term memory) and one arm behavior (stored in the long-term memory and recalled into the working memory) with two objects perceived on the robot’s Sensory Egosphere. If an undesirable collision occurs within the IRS, the robot will try a different behavior to avoid this predicted collision.

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