Protosymbols that integrate recognition and response

We explore two controversial hypotheses through robotic implementation: (1) Processes involved in recognition and response are tightly coupled both in their operation and epigenesis; and (2) processes involved in symbol emergence should respect the integrity of recognition and response while exploiting the periodicity of biological motion. To that end, this paper proposes a method of recognizing and generating motion patterns based on nonlinear principal component neural networks that are constrained to model both periodic and transitional movements. The method is evaluated by an examination of its ability to segment and generalize different kinds of soccer playing activity during a RoboCup match