Homeostasis keeps animals alive; it is a fundamental process that allows animals to adapt quickly to their environment. Artificial homeostasis can be used to help robots adapt to changing environments. Previous attempts at developing artificial homeostasis for robots were driven by mimicry of the biochemical machinery that drives homeostasis in humans. By considering homeostasis from a cognitive perspective, we develop a comparatively simple robot controller named CogSis (COGnitive HomeostaSIS) and demonstrate that it can provide homeostasis to a robot, even when there are conflicting needs. We present experiments showing that a robot running CogSis is able to learn from previous experiences and use them to influence future behaviour; can maintain its charge level while attending to another task (warming itself in an area separate from the charging station); and is able to maintain its charge level while avoiding a conflicting need (keeping cool, when the charging station is placed in a hot region of the environment). Results are presented in simulation and from a real robot platform.
翻译:Homeostasis 使动物能够存活; 这是一个基本过程, 使动物能够快速适应环境。 人工 homeostasis 可以用来帮助机器人适应不断变化的环境。 先前开发机器人人工自闭的尝试是由模拟驱动人类自闭的生化机械驱动的。 通过从认知角度考虑自闭状态, 我们开发了一个相对简单的机器人控制器, 名为 CogSis (Cognitive HomeostasIS), 并证明它可以向机器人提供自闭状态, 即使在有相互矛盾的需求时也是如此 。 我们展示的实验表明运行着CogSis 的机器人能够从以往的经验中学习, 并利用它们来影响未来的行为; 能够保持其充电水平, 同时处理另一个任务( 在与充电站分开的地区 ) ; 能够保持其充电水平, 避免需求( 当充电站位于环境的热点时, 保持冷却) 。 结果通过模拟和真正的机器人平台呈现出来 。