Learning the reachable space of a humanoid robot: A bio-inspired approach

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

doi:10.1109/BioRob.2012.6290729

Learning the reachable space of a humanoid robot: A bio-inspired approach

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

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 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 language	English
Title of host publication	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Pages	1148-1154
Number of pages	7
DOIs	https://doi.org/10.1109/BioRob.2012.6290729
Publication status	Published - 2012 Oct 18
Event	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome, Italy Duration: 2012 Jun 24 → 2012 Jun 27

Publication series

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

Conference

Conference	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Country/Territory	Italy
City	Rome
Period	12/6/24 → 12/6/27

ASJC Scopus subject areas

Artificial Intelligence
Biomedical Engineering
Mechanical Engineering

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10.1109/BioRob.2012.6290729

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

Learning the reachable space of a humanoid robot : A bio-inspired approach. / Jamone, Lorenzo; Natale, Lorenzo; Hashimoto, Kenji et al.

2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012. 2012. p. 1148-1154 6290729 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012., 6290729, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 1148-1154, 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, Rome, Italy, 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 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012. 2012. p. 1148-1154. 6290729. (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). doi: 10.1109/BioRob.2012.6290729

Jamone, Lorenzo ; Natale, Lorenzo ; Hashimoto, Kenji et al. / Learning the reachable space of a humanoid robot : A bio-inspired approach. 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012. 2012. pp. 1148-1154 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

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Learning the reachable space of a humanoid robot: A bio-inspired approach

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