Rethinking piaget for a developmental robotics of object permanence

Piaget´s account of object permanence development is rethought in light of both its historical roots in Poincare´s theory of space and current understanding of mechanisms. This rethinking reveals the developmental constraints reflected in Piaget´s stages of object permanence, charts the essential interdependence of spatial capacity, memory capacity, embodied movement, and object cognition, exonerates the A-not-B phenomenon from its appearance of an oddity, and provides programmatic guidance for a future robotics of object permanence development.