Since the last few decades, research in the area of robotics technology has been emphasizing in the modeling and development of cognitive machines. A cognitive machine can have multiple cognitive capabilities to be programmed to make it artificially intelligent. Numerous cognitive modules interact to mimic human behavior in machines and result in such a heavily coupled system that a minor change in logic or hardware may affect a large number of its modules. To address such a problem, several middlewares exist to ease the development of cognitive machines. Although these layers decouple the process of logic building and communication infrastructure of modules, they are language-dependent and have their limitations. A cognitive module developed for one research work cannot be a part of another research work resulting in the re-invention of the wheel. This paper proposes a RESTful technology-based framework that provides language-independent access to low-level control of the iCub’s sensory-motor system. Moreover, the model is flexible enough to provide hybrid communications between cognitive modules running on different platforms and operating systems. Furthermore, a cognitive client is developed to test the proposed model. The experimental analysis performed by creating different scenarios shows the effectiveness of the proposed framework.

中文翻译：

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RESTCub：认知机器人的语言独立中间件

近几十年来，机器人技术领域的研究一直强调认知机器的建模和开发。认知机器可以具有多种认知能力，可以通过编程使其成为人工智能。许多认知模块相互作用以模仿机器中的人类行为，并导致系统高度耦合，以至于逻辑或硬件的微小变化可能会影响其大量模块。为了解决这样的问题，存在一些中间件来简化认知机器的开发。尽管这些层将逻辑构建过程和模块的通信基础设施解耦，但它们依赖于语言并且有其局限性。为一项研究工作开发的认知模块不能成为另一项研究工作的一部分，从而导致轮子的重新发明。本文提出了一个基于 RESTful 技术的框架，该框架提供对 iCub 感觉运动系统的低级控制的语言独立访问。此外，该模型足够灵活，可以在不同平台和操作系统上运行的认知模块之间提供混合通信。此外，还开发了一个认知客户端来测试所提出的模型。通过创建不同场景进行的实验分析显示了所提出框架的有效性。开发了一个认知客户端来测试所提出的模型。通过创建不同场景进行的实验分析显示了所提出框架的有效性。开发了一个认知客户端来测试所提出的模型。通过创建不同场景进行的实验分析显示了所提出框架的有效性。