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

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2013 13th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2013
出版社IEEE Computer Society
ページ28-33
ページ数6
February
ISBN(電子版)9781479926176
DOI
出版ステータスPublished - 2015 2 3
イベント2013 13th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2013 - Atlanta, United States
継続期間: 2013 10 152013 10 17

出版物シリーズ

名前IEEE-RAS International Conference on Humanoid Robots
番号February
2015-February
ISSN(印刷版)2164-0572
ISSN(電子版)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

フィンガープリント 「Reaching for the unreachable: Integration of locomotion and whole-body movements for extended visually guided reaching」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル