British Library Cataloguing-in-Publication Data A catalogue record for this book is available from the British Library.

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5 Published by Pan Stanford Publishing Pte. Ltd. Penthouse Level, Suntec Tower 3 8 Temasek Boulevard Singapore editorial@panstanford.com Web: British Library Cataloguing-in-Publication Data A catalogue record for this book is available from the British Library. Creation of a Conscious Robot: Mirror Image Cognition and Self-Awareness Copyright c 2013 Pan Stanford Publishing Pte. Ltd. All rights reserved. This book, or parts thereof, may not be reproduced in any form or by any means, electronic or mechanical, including photocopying, recording or any information storage and retrieval system now known or to be invented, without written permission from the publisher. For photocopying of material in this volume, please pay a copying fee through the Copyright Clearance Center, Inc., 222 Rosewood Drive, Danvers, MA 01923, USA. In this case permission to photocopy is not required from the publisher. ISBN (Hardcover) ISBN (ebook) PrintedintheUSA

6 Dedicated to the memory of my late father

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8 Contents Preface xi 1 Introduction 1 2 Story of Robots 5 3 Story of the Human Brain 19 4 Human Consciousness and the Mind Human Thought and the Turing Machine Language and Formal Logic Language and Chomsky Mind Body Dualism of Descartes Behaviorism and Cognitism Phenomenology and Hermeneutics Phenomenology of Embodiment Mechanical Systems Without Representation Qualia and Mirror Neurons Affordance and Autopoiesis Theory Embodied Cognitive Science and Symbol Grounding Problem More Knowledge about Consciousness and the Mind Summary and Observations 68 5 Professor Valentino Braitenberg s Vehicles Braitenberg s Vehicles 1 Through Robot with a Brain Idea of an Evolutionary Robot Vehicles 7 Through 10 with Associative Concept 80

9 viii Contents 5.5 Robot with a Sequential Concept Vehicle Vehicle Vehicle Summary and Observations 88 6 Professor Rodney Brooks Robots 91 7 Artificial Neural Networks and Machine Evolution Neural Networks Hebb s Rule Single-Layer Neural Network and Delta Rule Feed-Forward Network and Back Propagation Method Recurrent Neural Networks and Their Functions Summary and Observations Theory of Robot Evolution Machine Evolution Approach Summary and Observations Machine Consciousness Walter s Turtle Summary and Observations Kitamura s Robot Summary and Observations Jun Tani s Robot Summary and Observations Mitsuo Kawato s Examples Summary and Observations Cynthia Lynn Breazeal s Kismet Summary and Observations New Architecture of Robot Consciousness and the Robot Mind Introduction Research on Consciousness and Cognitism 156

10 Contents ix Husserl s Phenomenology Definition of Consciousness Features of Consciousness Important Research Examples Related to Consciousness Proposed Concept Model of Consciousness Artificial Consciousness and Design of the Mind Expectations for a New Paradigm Where Does Consciousness Come From? How Do We Define Consciousness? Consciousness Is Generated by Consistency of Cognition and Behavior My Standpoint New Materialism Connectionism Cognitism and Representation Not Emergent Avoiding Infinite Retreat Quantum Consciousness Computational Model of the Consciousness Module Overview of Computation Model MoNAD Functions Investigating Husserl s 10 Properties Discriminating the Self from Others Using the Function of Visual Imitation Solution of the Symbol Grounding Problem Consciousness System Subconsciousness and Explicit Consciousness Relationship Between Reason and Feelings Where Do Qualia Come From? Problem of Free Will Summary and Observations Physical Demonstration of Successful Mirror Image Cognition by a Robot Introduction 204

11 x Contents 10.2 What Is Mirror Image Cognition? Development of a Robot to Demonstrate Mirror Image Cognition Stages in the Development of a Conscious Robot Conscious Robot and Mirror Image Cognition Experiments The Conscious Robot The Experiments Observation of Experiment Results Why Do Coincidence Rates Differ Depending on the Robot? Summary and Consideration Investigations and Prospects An Elucidation Mirror Box Therapy Mirror Stage Can Self Robot Discriminate Itself from Any Other Robots? Mysteries of Illusions of Reality Study of Human Brain Using Mirror Image Cognition Robot Observations on Self-Awareness Conclusions 227 Afterword 235 Appendix A: Author s Response to Reactions to Discovery News 241 Appendix B: On the Safety and Ethics of Robots 247 Bibliography 251 Index 257

12 Preface This book introduces the author s current focus on the study of the consciousness and the mind. It also proposes a method for constructing the functions of consciousness and the mind on a machine. The author has been exploring the concept of a conscious robot for nearly 20 years. He has presented his ideas at two international conferences held in Florida, in the summer of 2003: The 7th World Multiconference on Systemics, Cybernetics and Informatics (SCI 2003) and the International Conference on Computer, Communication and Control Technologies (CCCT 2003). The paper presented at these conferences received the Best Paper Award in the system sessions at SCI 2003 and in the methodology sessions at CCCT The same paper again received the Best Paper Prize at the Innovations in Applied Artificial Intelligence section of the 18th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems (IEA/AIE 2005) held in Italy in the summer of His article titled Mirror Image Cognition of a Robot was honored by the academic society at the 3rd International Conference on Sensing Technology (ICST 2008), held in Taiwan. These peer acknowledgments of the merits of this study provided the impetus for writing this book. This book is expected to be used as a textbook for university students pursuing information technology and mechanical engineering courses and is also suitable for students who are interested in the new areas of research. The content and information herein are also recommended for brain scientists and robot researchers, as well as those in arts who are enthusiastic about philosophical discussions and those who are curious about psychology and sociology. With such readers in mind, the author uses plain language to enable everyone to gain insights into the subject without needing expert

13 xii Preface knowledge. The initial sections of the book are dedicated to the discussions of basic knowledge about robots and the human brain. These sections intend to familiarize readers with the theme of this book. They are followed by an explanation of the conscious robot developed by the author. Last, experiments are introduced that demonstrate that this conscious robot for the first time in the world successfully recognizes its own reflection in a mirror. The author sincerely hopes that all readers interested in elucidating the mystery of human consciousness and the mind will benefit from reading this book.