A hierarchical system for a distributed representation of the peripersonal space of a humanoid robot
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Other documents of the author: Antonelli, Marco; Durán Bosch, Angel Juan; del Pobil, Angel P.
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Title
A hierarchical system for a distributed representation of the peripersonal space of a humanoid robotDate
2014-06-26xmlui.dri2xhtml.METS-1.0.item-edition
PostprintPublisher
IEEE Transactions on Autonomous Mental DevelopmentISSN
1943-0604Bibliographic citation
ANTONELLI, Maximiliano, et al. A hierarchical system for a distributed representation of the peripersonal space of a humanoid robot. Autonomous Mental Development, IEEE Transactions on, 2014, vol. 6, no 4, p. 259-273.Type
info:eu-repo/semantics/articleSubject
Abstract
Reaching a target object in an unknown and unstructured
environment is easily performed by human beings.
However, designing a humanoid robot that executes the same
task requires the implementation of complex ... [+]
Reaching a target object in an unknown and unstructured
environment is easily performed by human beings.
However, designing a humanoid robot that executes the same
task requires the implementation of complex abilities, such as
identifying the target in the visual field, estimating its spatial
location, and precisely driving the motors of the arm to reach it.
While research usually tackles the development of such abilities
singularly, in this work we integrate a number of computational
models into a unified framework, and demonstrate in a humanoid
torso the feasibility of an integrated working representation of its
peripersonal space. To achieve this goal, we propose a cognitive
architecture that connects several models inspired by neural
circuits of the visual, frontal and posterior parietal cortices of the
brain. The outcome of the integration process is a system that
allows the robot to create its internal model and its representation
of the surrounding space by interacting with the environment
directly, through a mutual adaptation of perception and action.
The robot is eventually capable of executing a set of tasks, such
as recognizing, gazing and reaching target objects, which can
work separately or cooperate for supporting more structured
and effective behaviors. [-]
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IEEE Transactions on Autonomous Mental Development , 2014, Volume:6 , Issue: 4Rights
info:eu-repo/semantics/openAccess
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