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The incorporation of this approach leads to the natural development of complex and varied behaviors, with lower demands for planning, coordination and resources. We demonstrate how this process can be performed autonomously as part of the normal function of the robot, without the need for an explicit learning stage or user guidance. The complete implementation of this algorithm on the Sony QRIO humanoid robot is described.<\/jats:p>","DOI":"10.1177\/1059712306076255","type":"journal-article","created":{"date-parts":[[2007,6,7]],"date-time":"2007-06-07T08:38:13Z","timestamp":1181205493000},"page":"199-216","source":"Crossref","is-referenced-by-count":19,"title":["From Deliberative to Routine Behaviors: A Cognitively Inspired Action-Selection Mechanism for Routine Behavior Capture"],"prefix":"10.1177","volume":"15","author":[{"given":"Sonia","family":"Chernova","sequence":"first","affiliation":[{"name":"Computer Science Department, Carnegie Mellon University,"}]},{"given":"Ronald C.","family":"Arkin","sequence":"additional","affiliation":[{"name":"College of Computing, Georgia Institute of Technology,"}]}],"member":"179","published-online":{"date-parts":[[2007,6,1]]},"reference":[{"issue":"3","key":"atypb1","first-page":"191","volume":"42","author":"Arkin, R.","year":"2003","journal-title":"Systems"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-0193(2000)9:1<38::AID-HBM4>3.0.CO;2-T"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1017\/S0140525X0124391X"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/4528.001.0001"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-0281-6_14"},{"key":"atypb6","volume-title":"Proceedings of the 19th Annual Conference of the","author":"Cooper, R."},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1080\/026432900380427"},{"key":"atypb8","first-page":"27","volume":"2","author":"Cooper, R.","year":"1995","journal-title":"Hybrid Problems, Hybrid Solutions"},{"key":"atypb9","author":"Fujita, M.","year":"2003","journal-title":"Proceedings of the IEEE\/RSJ international Conference on Intelligent Robots and Systems."},{"key":"atypb10","volume-title":"Proceedings of the International Workshop on Recent Advances","author":"Garforth, J."},{"key":"atypb11","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Hoshino, Y."},{"issue":"25","key":"atypb12","volume":"2","author":"Houghton, G.","year":"1995","journal-title":"Psyche"},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1037\/0033-295X.110.2.316"},{"key":"atypb14","volume-title":"The problem of serial order in behavior","author":"Lashley, K.S.","year":"1951"},{"key":"atypb15","doi-asserted-by":"crossref","unstructured":"Norman, D.A. & Shallice, T. 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