An Approach to Emergence Mechanism of Affordance

It is fatal for the autonomous robots in the real world, filled with enormous amount of information, to catch only the useful and related information of their actions. Affordance would be one of the key words to make them available the ability to catch those useful information. This paper, therefore, tries to enable an autonomous robot affordance by introducing Inner Perceptual Model (IPM) as a field that will make the sensory inputs as a grounded symbol. An emergent mechanism of Affordance is proposed by means of IPM, Active Sensing System, and Information Processing System. Four necessary conditions to be satisfied is settled to clarify whether the Perceptual Pattern in IPM could be the inner representation of the environment. Computer simulations show the possibility that IPM would be an inner representation of the environment as grounded symbols © 1996, Fuji Technology Press. All rights reserved.