title: Everyday robotic action: lessons from human action control.
abstract: Robots are increasingly capable of performing everyday human activities such as cooking, cleaning, and doing the laundry. This requires the real-time planning and execution of complex, temporally extended sequential actions under high degrees of uncertainty, which provides many challenges to traditional approaches to robot action control. We argue that important lessons in this respect can be learned from research on human action control. We provide a brief overview of available psychological insights into this issue and focus on four principles that we think could be particularly beneficial for robot control: the integration of symbolic and subsymbolic planning of action sequences, the integration of feedforward and feedback control, the clustering of complex actions into subcomponents, and the contextualization of action-control structures through goal representations.
authors.affiliation: Cognitive Psychology Unit, Institute for Psychological Research, Leiden University Leiden, Netherlands ; Leiden Institute for Brain and Cognition, Leiden University Leiden, Netherlands.
authors.forename: Roy
authors.initials: R
authors.lastname: de Kleijn
authors.affiliation: Cognitive Psychology Unit, Institute for Psychological Research, Leiden University Leiden, Netherlands ; Leiden Institute for Brain and Cognition, Leiden University Leiden, Netherlands.
authors.forename: George
authors.initials: G
authors.lastname: Kachergis
authors.affiliation: Cognitive Psychology Unit, Institute for Psychological Research, Leiden University Leiden, Netherlands ; Leiden Institute for Brain and Cognition, Leiden University Leiden, Netherlands.
authors.forename: Bernhard
authors.initials: B
authors.lastname: Hommel
keywords: action control; action sequencing; complex action; goal-directed behavior; naturalistic action