Plastic Representation of the Reachable Space for a Humanoid Robot
View/ Open
Impact
Scholar |
Other documents of the author: Antonelli, Marco; Grzyb, Beata J.; Castelló, Vicente; del Pobil, Angel P.
Metadata
Show full item recordcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7036
comunitat-uji-handle3:10234/61544
comunitat-uji-handle4:
INVESTIGACIONMetadata
Title
Plastic Representation of the Reachable Space for a Humanoid RobotDate
2012Publisher
Springer Berlin HeidelbergISBN
978-3-642-33092-6ISSN
0302-9743; 1611-3349Bibliographic citation
Antonelli, Marco; Grzyb, Beata J.; Castelló, Vicente; Pobil, Angel P. " Plastic Representation of the Reachable Space for a Humanoid Robot". En: From Animals to Animats 12 – 12th International Conference on Simulation of Adaptive Behavior, SAB 2012, Odense, Denmark, August 27-30, 2012. Proceedings / Ziemke, Tom [et al.] (Eds.). Berlin : Springer, 2012. (Lecture Notes in Computer Science; 7426) . ISBN: 978-3-642-33092-6. pp. 167-176Type
info:eu-repo/semantics/bookPartPublisher version
http://link.springer.com/chapter/10.1007%2F978-3-642-33093-3_17Subject
Abstract
Reaching a target object requires accurate estimation of the object spatial position and its further transformation into a suitable arm-motor command. In this paper, we propose a framework that provides a robot with ... [+]
Reaching a target object requires accurate estimation of the object spatial position and its further transformation into a suitable arm-motor command. In this paper, we propose a framework that provides a robot with a capacity to represent its reachable space in an adaptive way. The location of the target is represented implicitly by both the gaze direction and the angles of arm joints. Two paired neural networks are used to compute the direct and inverse transformations between the arm position and the head position. These networks allow reaching the target either through a ballistic movement or through visually-guided actions. Thanks to the latter skill, the robot can adapt its sensorimotor transformations so as to reflect changes in its body configuration. The proposed framework was implemented on the NAO humanoid robot, and our experimental results provide evidences for its adaptative capabilities. [-]
Rights
© Springer, Part of Springer Science+Business Media
http://rightsstatements.org/vocab/InC/1.0/
info:eu-repo/semantics/openAccess
http://rightsstatements.org/vocab/InC/1.0/
info:eu-repo/semantics/openAccess