A STUDY OF SELF-AWARENESS IN ROBOTS

The present paper studies self-awareness and introduces some self-awareness related incidents. It then describes the relationship between self-awareness and consciousness and explains the MoNAD, a neural network circuit developed by the authors that capably describes the phenomena of self-awareness and consciousness. A model of self-awareness is then presented. This self-awareness model is a parallel network system in which multiple independent MoNADs communicate with one another. In experiments with robots, three test robots were used: (1) a self-image robot reflected in a mirror, (2) another robot, and (3) a cable-connected robot behaving as commanded by the self-robot. The reactions of the three test robots to the self-robot were compared to investigate the self-awareness of the self-robot. The experiments have shown that the conditions required for the self-robot to interpret the test robot to be part of itself are: (1) the test robot must return a reaction within a certain period of time that is internally determined in the self-robot and (2) the returned reaction must be consistent with the expectation that is continually being calculated in the self-robot.