论文标题
身体模式或身体作为自己的最佳模型
Body schema or the body as its own best model
论文作者
论文摘要
罗德尼·布鲁克斯（Rodney Brooks，1991）提出了这样一个想法，即在特工与环境的互动中，世界的代表经常阻碍。取而代之的是，将世界用作自己的最佳模型，即直接与它进行互动而无需制作模型，通常会导致更好，更自然的行为。相同的观点可以应用于代理人身体的表示。我分析了生物学的不同实例 - 尤其是章鱼和人类 - 并将它们与机器人及其身体模型进行比较。在光谱的一端，章鱼是一种高度聪明的动物，主要依赖其手臂的机械性能和周围神经系统的机械性能。在其中枢神经系统中未发现其身体的中央表示或地图。灵长类动物的大脑确实包含用于处理与身体相关信息的区域，并发现了不同的身体图。但是，这些表示基本上是隐式和分布的，并且某些功能也被卸载到外围。另一方面，机器人在计划和执行行为时几乎完全依靠其身体模型。我分析了这些不同方法的利弊，并提出了可能是未来机器人的最佳解决方案。
Rodney Brooks (1991) put forth the idea that during an agent's interaction with its environment, representations of the world often stand in the way. Instead, using the world as its own best model, i.e. interacting with it directly without making models, often leads to better and more natural behavior. The same perspective can be applied to representations of the agent's body. I analyze different examples from biology -- octopus and humans in particular -- and compare them with robots and their body models. At one end of the spectrum, the octopus, a highly intelligent animal, largely relies on the mechanical properties of its arms and peripheral nervous system. No central representations or maps of its body were found in its central nervous system. Primate brains do contain areas dedicated to processing body-related information and different body maps were found. Yet, these representations are still largely implicit and distributed and some functionality is also offloaded to the periphery. Robots, on the other hand, rely almost exclusively on their body models when planning and executing behaviors. I analyze the pros and cons of these different approaches and propose what may be the best solution for robots of the future.
