A cognitive developmental scenario of transitional motor primitives acquisition.

Motor primitive is one of the keys for human behavior generation and motor control with enormous degree of freedom of human body. Our purpose in this paper is to present a cognitive developmental scenario of motor primitives acquisition from the interaction between the body and the surrounding environments with cognitive properties of infants. The hypothesized scenario is that (1) infants explore their own body and environments, (2) categorize stable perceptual states extracted from sensory information, (3) memorize transitional movements between the states, and (4) make brief representation of each transitional movement as motor primitive. We have conducted an infant musculoskeletal computer simulation experiment to examine this scenario. Our result is that stable states, which are provided within the body and the environment dynamics, are detected from probability distribution of sensory data with the exploration. Transitional movements are found for the exploration, and brief motor commands are extracted by a statistical analysis. The extracted motor commands can realize the respective movements. We conclude that the scenario is validated from perspective of computational possibility.

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