Toward a Design for Teaching Cognitive Robotics Matthew D. Tothero Oskars J. Rieksts February 23, 2016

Kutztown University Criteria  Embodied cognition  Agent-principal paradigm  Clear ontology  Clear epistemology  Concepts supporting agent- principal interaction

February 23, 2016 Kutztown University Embodied Cognition  Perceive  Conceive  Believe  Achieve

February 23, 2016 Kutztown University Embodied Cognition  Perceive  receive & process sensa  Conceive  create concepts  Gain understanding

February 23, 2016 Kutztown University Embodied Cognition  Believe  know or think to be true  Achieve  accomplish specific task

February 23, 2016 Kutztown University 8 Laws of Embodied Cognition A robot cannot:  conceive what it cannot perceive  perceive what it cannot conceive  achieve what it cannot conceive  conceive what it cannot achieve

February 23, 2016 Kutztown University 8 Laws of Embodied Cognition A robot cannot:  conceive what it cannot believe  believe what it cannot conceive  perceive what it cannot believe  believe what it cannot perceive

February 23, 2016 Kutztown University Agent-Principal Paradigm  The robot is the agent  The “user” is the principal  The principal gives directives  The robot carries out directives  Interaction is required  This requires communication

February 23, 2016 Kutztown University Metaphors of A-P Paradigm  Hunter & hunting dog  Note: continuous interaction  General Eisenhower and President Roosevelt  Directive: You will invade the European continent and defeat the Nazi war machine

February 23, 2016 Kutztown University Ontgy/Eptmy of A-P Paradigm  Ontology & epistemology  Hunter & hunting dog  Overlap – but not co-extensive  Visual cortex vs. olfactory cortex  Different conceptual structures  Able to communicate with respect to task achievement

February 23, 2016 Kutztown University Ontgy/Eptmy of A-P Paradigm  Eisenhower and Roosevelt  Experientially disparate  Different conceptual structures  Different goals, but with overlap  Able to communicate for task achievement

February 23, 2016 Kutztown University A-P Paradigm for Robotics  Agent and principal are separate entities  Agent acts on its own  Agent receives and understands directives  Agent and principal communicate

February 23, 2016 Kutztown University Implement A-P Paradigm  Finch  Raspberry Pi  Laptop  Client-server approach

Finch  Carnegie Mellon's CREATE lab  Parts:  Light, temperature, and obstacle sensors  Accelerometers  Motors  Multiple programming languages and environments February 23, 2016 Kutztown University

Wireless Finch  Raspberry Pi  USB HUB  Battery Pack  Wireless Adapter February 23, 2016 Kutztown Univeristy

February 23, 2016 Kutztown University Software Debian Python 3 OrientDB TCP/IP

February 23, 2016 Kutztown University Client/Server Approach Raspberry Pi - Server Laptop - Client Send commands to server Commands translated to Finch’s API calls

February 23, 2016 Kutztown University OrientDB GDB Software Contained within Raspberry Pi

February 23, 2016 Kutztown University Finch Issues Not deterministic Straight line issues Video link

February 23, 2016 Kutztown University New Approaches 4tronix Diddyborg

February 23, 2016 Kutztown University 4tronix Initio

February 23, 2016 Kutztown University PiBorg Diddyborg

February 23, 2016 Kutztown University Hardware/Software Experiences Robots required initial setup 4tronix required the least amount of work, but the most amount of time Diddyborg required more technical skill such as soldering

February 23, 2016 Kutztown University Robot Comparison Diddyborg  More durable and stronger  Requires more sensors 4tronix  Plastic  Came with sensors out of the box

February 23, 2016 Kutztown University 4tronix Video Link

Upcoming Tasks Additional sensors Indoor location services February 23, 2016 Kutztown University

February 23, 2016 Kutztown University Conclusion  This approach shows promise  Sensors and software must be tuned with respect to MMS theory (below)  Drawbacks  Cost per unit  Not turnkey system

February 23, 2016 Kutztown University MMS Theory  Affordances & constraints  Drawbacks  Cost per unit  Not turnkey system

February 23, 2016 Kutztown University MMS Theory  D/H A&C + software A&C determine mental model robot can construct  Drawbacks  Cost per unit  Not turnkey system

February 23, 2016 Kutztown University MMS Theory  Robot operates within (dynamic) mental model space

February 23, 2016 Kutztown University Bibliography, p. 1 Bickhard, Representational content in humans and machines, Journal of Experimental and Theoretical Artificial Intelligence, 5(4), 1993, R.A. Brooks, A robust layered control system for a mobile robot, IEEE Journal of Robotics and Automation, 2(1), 1986, 14–23. TCP/IP R.A. Brooks, Intelligence without representation, Artificial Intelligence 47 (1991), 139–159. M. Cowart, Embodied Cognition, Internet Encyclopedia of Philosophy, URL =.

February 23, 2016 Kutztown University Bibliography, p. 2 A. Kronfeld, Amichai. Reference and computation: an essay in applied philosophy of language (studies in natural language processing) (Cambridge, UK: Cambridge University Press, 1990). A. Noe. Action in Perception (Cambridge, MA: MIT Press, 2005). A. Noe. Spatial strategies in human-robot communication. Künstliche Intelligenz, 16(4), 2002,

February 23, 2016 Kutztown University Bibliography, p. 3 L. Shapiro. Embodied Cognition (New York, NY: Routledge, 2011). G. C. Smith. What Is Interaction Design? in B. Moggeridge. Designing Interactions (Cambridge, MA: MIT Press, 2007). G.M. Stratton, The spatial harmony of touch and sight, Mind, 8(32), 1899, R. A. Wilson and L. Foglia, Embodied Cognition, The Stanford Encyclopedia of Philosophy (Winter 2015 Edition), E.N. Zalta (ed.), URL =. died-cognition/