Reaching for the unreachable: Integration of locomotion and whole-body movements for extended visually guided reaching

Martim Brandão, Lorenzo Jamone, Przemyslaw Kryczka, Nobotsuna Endo, Kenji Hashimoto, Atsuo Takanishi

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

3 Citations (Scopus)

Abstract

We present a novel control architecture for the integration of visually guided walking and whole-body reaching in a humanoid robot.We propose to use robot gaze as a common reference frame for both locomotion and reaching, as suggested by behavioral neuroscience studies in humans. A gaze controller allows the robot to track and fixate a target object, and motor information related to gaze control is then used to i) estimate the reachability of the target, ii) steer locomotion, iii) control whole-body reaching. The reachability is a measure of how well the object can be reached for, depending on the position and posture of the robot with respect to the target, and it is obtained from the gaze motor information using a mapping that has been learned autonomously by the robot through motor experience: we call this mapping Reachable Space Map. In our approach, both locomotion and whole-body movements are seen as ways to maximize the reachability of a visually detected object, thus i) expanding the robot workspace to the entire visible space and ii) exploiting the robot redundancy to optimize reaching. We implement our method on a full 48-DOF humanoid robot and provide experimental results in the real world.

Original languageEnglish
Title of host publication2013 13th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2013
PublisherIEEE Computer Society
Pages28-33
Number of pages6
EditionFebruary
ISBN (Electronic)9781479926176
DOIs
Publication statusPublished - 2015 Feb 3
Event2013 13th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2013 - Atlanta, United States
Duration: 2013 Oct 152013 Oct 17

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
NumberFebruary
Volume2015-February
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Other

Other2013 13th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2013
CountryUnited States
CityAtlanta
Period13/10/1513/10/17

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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  • Cite this

    Brandão, M., Jamone, L., Kryczka, P., Endo, N., Hashimoto, K., & Takanishi, A. (2015). Reaching for the unreachable: Integration of locomotion and whole-body movements for extended visually guided reaching. In 2013 13th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2013 (February ed., pp. 28-33). [7029951] (IEEE-RAS International Conference on Humanoid Robots; Vol. 2015-February, No. February). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2013.7029951