Learning the reachable space of a humanoid robot

A bio-inspired approach

Lorenzo Jamone, Lorenzo Natale, Kenji Hashimoto, Giulio Sandini, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    4 Citations (Scopus)

    Abstract

    In this paper we describe how a humanoid robot can learn a representation of its own reachable space from motor experience: a Reachable Space Map. The map provides information about the reachability of a visually detected object (i.e. a 3D point in space). We propose a bio-inspired solution in which the map is built in a gaze-centered reference frame: the position of a point in space is encoded with the motor configuration of the robot head and eyes which allows the fixation of that point. We provide experimental results in which a simulated humanoid robot learns this map autonomously and we discuss how the map can be used for planning whole-body and bimanual reaching.

    Original languageEnglish
    Title of host publicationProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
    Pages1148-1154
    Number of pages7
    DOIs
    Publication statusPublished - 2012
    Event2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome
    Duration: 2012 Jun 242012 Jun 27

    Other

    Other2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
    CityRome
    Period12/6/2412/6/27

    Fingerprint

    Robots
    Planning

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Biomedical Engineering
    • Mechanical Engineering

    Cite this

    Jamone, L., Natale, L., Hashimoto, K., Sandini, G., & Takanishi, A. (2012). Learning the reachable space of a humanoid robot: A bio-inspired approach. In Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (pp. 1148-1154). [6290729] https://doi.org/10.1109/BioRob.2012.6290729

    Learning the reachable space of a humanoid robot : A bio-inspired approach. / Jamone, Lorenzo; Natale, Lorenzo; Hashimoto, Kenji; Sandini, Giulio; Takanishi, Atsuo.

    Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. 2012. p. 1148-1154 6290729.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Jamone, L, Natale, L, Hashimoto, K, Sandini, G & Takanishi, A 2012, Learning the reachable space of a humanoid robot: A bio-inspired approach. in Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics., 6290729, pp. 1148-1154, 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, Rome, 12/6/24. https://doi.org/10.1109/BioRob.2012.6290729
    Jamone L, Natale L, Hashimoto K, Sandini G, Takanishi A. Learning the reachable space of a humanoid robot: A bio-inspired approach. In Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. 2012. p. 1148-1154. 6290729 https://doi.org/10.1109/BioRob.2012.6290729
    Jamone, Lorenzo ; Natale, Lorenzo ; Hashimoto, Kenji ; Sandini, Giulio ; Takanishi, Atsuo. / Learning the reachable space of a humanoid robot : A bio-inspired approach. Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. 2012. pp. 1148-1154
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