Method and apparatus for automatically generating internal representation

A computer-implemented method of automatically generating internal representations in a recognition and control system which actively varies a state of a subject, such as an object and a related environment, to be processed by the recognition and control system, a state of the recognition and control system itself, or a relationship between the subject and the recognition and control system, said method comprising the steps of:

• (a) detecting a state of the recognition and control system and outputting a sensor signal;
• (b) varying the state of the recognition and control system in response to a control signal;
• (c) processing the sensor signal and outputting a sensory signal;
• (d) producing and outputting the control signal, which controls an actuator, based on a motor signal or a motor command;
• and
• (e) analyzing a mutual dependency relationship between the sensor signal and the control signal, based on the sensory signal and the control signal, to obtain analysis results and automatically adjusting sensory characteristics of said step (c) and motor characteristics of said step (d), based on the analysis results, so that sensory information and motor information, which are internal representations of the sensor signal and the control signal, are automatically generated.

An apparatus automatically generating internal representations in a recognition and control system for actively varying a state of a subject, such as an object and a related environment, to be processed by the recognition and control system, a state of the recognition and control system itself, or a relationship between the subject and the recognition and control system, said apparatus comprising:

• a sensor detecting a state of the recognition and control system and outputting a sensor signal;
• an actuator varying the state of the recognition and control system in response to a control signal;
• a sensory module processing the sensor signal from said sensor means and outputting a sensory signal;
• a motor module outputting the control signal which controls said actuator, based on a motor signal or a motor command;
• and
• an automatic adjusting module analyzing a mutual dependency relationship between the sensor signal and the control signal, based on the sensory signal from said sensory module and the control signal from said motor module, to obtain analysis results, and automatically adjusting sensory characteristics of said sensory module and motor characteristics of said motor module, based on the analysis results, so that sensory information and motor information, which are internal representations of the sensor signal and the control signal, are automatically generated.