Modular behavior control for a cognitive robot

Abstract

We propose a method for a cognitive robot behavior control in which a small number of behaviors are loaded into a workspace, called working memory, where they are combined to generate actions during a task execution. We use the existing components in our cognitive robot architecture, such as the long-term memory, the short-term memory, with the addition of a working memory system and a control mechanism called the central executive agent to create a modular control system. This control method is used to drive the behaviors of our humanoid robot ISAC