A hybrid propositional-embodied cognitive architecture for human-robot cooperation

Robot platforms have now reached a level of technical development wherein they are becoming physically capable of useful interaction with humans, while ensuring safety and reasonable cost. The current challenge is for cognitive systems science to provide these robots with the necessary capabilities so that they can interact and cooperate with humans in a natural manner. We are addressing this problem by exploiting two central ideas derived from the human psychological sciences. The first idea is that the human conceptual system is based on situated simulations that are instantiated in the same systems that are used for perception and action, referred to as embodied cognition. The second idea is that human cooperation relies on the cooperating agents sharing a common representation of their shared plan, which involves the actions of both agents. This representation allows them to cooperate, to trade roles, and to help one another if necessary. We have implemented these concepts on multiple robot platforms including the HRP2 humanoid, and the Cooperator and Cooperator II visually guided robot manipulators. This paper will present the motivation for this system and results, and will then outline what we consider to be the crucial issues for human-like cognitive systems.