中文摘要：

针对智能机器人的行为认知问题，提出一种基于取向性的内发动机，主要涉及学习评价机制以及感觉运动协调机制．采用该模型构建桌面机器人运动神经认知系统，实现桌面机器人类似于生物负趋光行为的学习和认知过程．仿真实验结果表明了该方法的有效性．

英文摘要：

An intrinsic motivation system based on the tropism is presented for the behavioral cognitive problem on the intelligent robot, and the learning evaluation mechanisms and the sensorimotor coordina tion mechanism are mainly analyzed. The intrinsic motivation is used to build a motion neurocognitive sys tem for a desktop robot realising the learning and cognitive processes like the biological negative phototaxis behavior. The simulation results show the effectiveness of the system.