@conference {26, title = {Augmenting the Reachable Space in the NAO Humanoid Robot}, booktitle = {AAAI Workshops}, year = {2012}, abstract = {

Reaching for a target requires estimating the spatial position of the target and to convert such a position in a suitable arm-motor command. In the proposed framework, the location of the target is represented implicitly by the gaze direction of the robot and by the distance of the target. The NAO robot is provided with two cameras, one to look ahead and one to look down, which constitute two independent head-centered coordinate systems. These head-centered frames of reference are converted into reaching commands by two neural networks. The weights of networks are learned by moving the arm while gazing the hand, using an on-line learning algorithm that maintains the covariance matrix of weights. This work adapts a previously proposed model that worked on a full humanoid robot torso, to work with the NAO and is a step toward a more generic framework for the implicit representation of the peripersonal space in humanoid robots.

}, keywords = {autonomous learning, cues integration, humanoid robot, radial basis functions, recursive least square}, url = {http://www.aaai.org/ocs/index.php/WS/AAAIW12/paper/view/5231}, author = {Marco Antonelli and Beata J. Grzyb and Vicente Castell{\'o} and Angel P. del Pobil} } @inbook {22, title = {Integration of Static and Self-motion-Based Depth Cues for Efficient Reaching and Locomotor Actions}, booktitle = {Artificial Neural Networks and Machine Learning {\textendash} ICANN 2012}, series = {Lecture Notes in Computer Science}, volume = {7552}, year = {2012}, pages = {322-329}, publisher = {Springer Berlin Heidelberg}, organization = {Springer Berlin Heidelberg}, keywords = {depth cue integration, distance perception, embodied perception, reward-mediated learning}, isbn = {978-3-642-33268-5}, doi = {10.1007/978-3-642-33269-2_41}, url = {http://dx.doi.org/10.1007/978-3-642-33269-2_41}, author = {Beata J. Grzyb and Vicente Castell{\'o} and Marco Antonelli and Angel P. del Pobil}, editor = {Villa, AlessandroE.P. and Duch, W{\l}odzis{\l}aw and {\'E}rdi, P{\'e}ter and Masulli, Francesco and Palm, G{\"u}nther} } @inbook {25, title = {Plastic Representation of the Reachable Space for a Humanoid Robot}, booktitle = {From Animals to Animats 12}, series = {Lecture Notes in Computer Science}, volume = {7426}, year = {2012}, pages = {167-176}, publisher = {Springer Berlin Heidelberg}, organization = {Springer Berlin Heidelberg}, isbn = {978-3-642-33092-6}, doi = {10.1007/978-3-642-33093-3_17}, url = {http://dx.doi.org/10.1007/978-3-642-33093-3_17}, author = {Marco Antonelli and Beata J. Grzyb and Vicente Castell{\'o} and Angel P. del Pobil}, editor = {Ziemke, Tom and Balkenius, Christian and Hallam, John} } @conference {94, title = {Reachable by walking: inappropriate integration of near and far space may lead to distance errors}, booktitle = {Proceedings of Post-Graduate Conference on Robotics and Development of Cognition (A satellite Event of the International Conference on Artificial Neural Networks - ICANN 2012).}, year = {2012}, author = {Beata J. Grzyb and Vicente Castell{\'o} and Angel P. del Pobil} }