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 publication2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Pages1148-1154
Number of pages7
DOIs
Publication statusPublished - 2012 Oct 18
Event2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome, Italy
Duration: 2012 Jun 242012 Jun 27

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)2155-1774

Conference

Conference2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
CountryItaly
CityRome
Period12/6/2412/6/27

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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 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 (pp. 1148-1154). [6290729] (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). https://doi.org/10.1109/BioRob.2012.6290729