Assimilation and accommodation for self-organizational learning of autonomous robots: proposal of dual-schemata model

In this paper, we proposed a new self-organizational machine learning system, called dual-schemata model. This model is based on Piaget´s schema theory, which is well known theory in developmental psychology. In our model, we divide Piaget´s original schema into two parts; one is a perceptional schema and the other is an intentional schema. By this division, we can describe both adaptation and learning processes of a human and/or of an autonomous robot more simply and more effectively. Further, we show a series of experiments, in which a facial-robot with our dual-schemata model attempts to chase movements of a colored ball, and then we present that a robot gets to obtain some inner symbols concerning with those ball movements.