Objects, Actions and Physical Interactions

Contents

We deal with a problem that can be considered as part of the symbol grounding problem and is related to anchoring, but for a more general case that includes symbols that do not denote directly physical objects but rather the physical sensorimotor interactions between a robot body and physical objects. The fundamental role of this kind of symbols for robotic intelligence can be derived from the evolutionary importance of those symbols for living organisms as supported by current neurophysiology. We provide a detailed example of this approach in the context of a manipulation task: the peg-in-hole insertion problem.