The iCub Cognitive Architecture

Abstract

In this chapter, we examine how the roadmap guidelines set out in Chap. 6 have influenced the design of a cognitive architecture for the iCub humanoid robot. We begin with a overview of the iCub and we discuss briefly the iCub mechatronics and software infrastructure. We then describe the iCub cognitive architecture, focussing the selection of a minimal set of phylogenetic capabilities derived from the seven groups of roadmap guidelines. Since the iCub cognitive architecture is a work-in-progress, it represents only a partial implementation of the roadmap guidelines. Consequently, we close the chapter by examining the exact extent to which each guideline has been followed. The next chapter, which concludes the book, addresses some of the research challenges posed by a complete implementation of the roadmap guidelines.