AUTHOR=Lagriffoul Fabien 

TITLE=A Schema-Based Robot Controller Complying With the Constraints of Biological Systems

JOURNAL=Frontiers in Neurorobotics

VOLUME=16

YEAR=2022

URL=https://www.frontiersin.org/journals/neurorobotics/articles/10.3389/fnbot.2022.836767

DOI=10.3389/fnbot.2022.836767

ISSN=1662-5218

ABSTRACT=<p>This article reports on the early stages of conception of a robotic control system based on Piaget's schemas theory. Beyond some initial experimental results, we question the scientific method used in developmental robotics (DevRob) and argue that it is premature to abstract away the functional architecture of the brain when so little is known about its mechanisms. Instead, we advocate for applying a method similar to the method used in model-based cognitive science, which consists in selecting plausible models using computational and physiological constraints. Previous study on schema-based robotics is analyzed through the critical lens of the proposed method, and a minimal system designed using this method is presented.</p>