@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 {82, title = {How Walking Influences the Development of Absolute Distance Perception}, booktitle = {From Animals to Animats 12}, series = {Lecture Notes in Computer Science}, volume = {7426}, year = {2012}, pages = {65{\textendash}74}, publisher = {Springer Berlin / Heidelberg}, organization = {Springer Berlin / Heidelberg}, isbn = {978-3-642-33092-6}, author = {Beata J. Grzyb and Angel P. del Pobil and Linda B. Smith}, editor = {Ziemke, Tom and Balkenius, Christian and Hallam, John} } @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} } @article {63, title = {Pose Estimation Through Cue Integration: A Neuroscience-Inspired Approach}, journal = {Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on}, volume = {42}, year = {2012}, pages = {530-538}, abstract = {

The aim of this paper is to improve the skills of robotic systems in their interaction with nearby objects. The basic idea is to enhance visual estimation of objects in the world through the merging of different visual estimators of the same stimuli. A neuroscience-inspired model of stereoptic and perspective orientation estimators, merged according to different criteria, is implemented on a robotic setup and tested in different conditions. Experimental results suggest that the integration of multiple monocular and binocular cues can make robot sensory systems more reliable and versatile. The same results, compared with simulations and data from human studies, show that the model is able to reproduce some well-recognized neuropsychological effects.

}, keywords = {binocular cue integration, Biological system modeling, Cameras, Computational modeling, Computer Simulation, Computer-Assisted, Cybernetics, Depth Perception, Estimation, Grasping, grippers, Humans, Image Processing, Intelligent robots, Models, monocular cue integration, Neurological, neuropsychological effects, neuroscience-inspired model, object estimation, perspective orientation estimator, pose estimation, Reliability, Reproducibility of Results, robot sensory systems, robot vision, robot vision systems, Robotics, Robots, stereo image processing, stereo vision, stereoptic orientation estimator, Task Performance and Analysis, visual estimation, visual perception, Visualization}, issn = {1083-4419}, doi = {10.1109/TSMCB.2011.2168952}, author = {Eris Chinellato and Beata J. Grzyb and Angel P. del Pobil} } @article {93, title = {Pose Estimation Through Cue Integration: A Neuroscience-Inspired Approach}, journal = {IEEE Transactions on Systems, Man, and Cybernetics, Part B}, volume = {42(2)}, year = {2012}, pages = {530{\textendash}538}, author = {Eris Chinellato and Beata J. Grzyb and Angel P. del Pobil} } @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} } @conference {86, title = {Between frustration and elation: sense of control regulates the intrinsic motivation for motor learning}, booktitle = {AAAI Workshop on Lifelong learning}, year = {2011}, author = {Beata J. Grzyb and J. Boedecker and M. Asada and Angel P. del Pobil and Linda B. Smith} } @article {64, title = {The Dorso-medial visual stream: From neural activation to sensorimotor interaction}, journal = {Neurocomputing}, volume = {74}, year = {2011}, pages = {1203 - 1212}, abstract = {

The posterior parietal cortex of primates, and more exactly areas of the dorso-medial visual stream, are able to encode the peripersonal space of a subject in a way suitable for gathering visual information and contextually performing purposeful gazing and arm reaching movements. Such sensorimotor knowledge of the environment is not explicit, but rather emerges through the interaction of the subject with nearby objects. In this work, single-cell data regarding the activation of primate dorso-medial stream neurons during gazing and reaching movements is studied, with the purpose of discovering meaningful pattern useful for modeling purposes. The outline of a model of the mechanisms which allow humans and other primates to build dynamical representations of their peripersonal space through active interaction with nearby objects is proposed, and a detailed description of how to employ the results of the data analysis in the model is offered. The application of the model to robotic systems will allow artificial agents to improve their skills in exploring the nearby space, and will at the same time constitute a way to validate modeling assumptions.

}, keywords = {Bio-inspired systems}, issn = {0925-2312}, doi = {10.1016/j.neucom.2010.07.029}, url = {http://www.sciencedirect.com/science/article/pii/S0925231210004212}, author = {Eris Chinellato and Beata J. Grzyb and Nicoletta Marzocchi and A. Bosco and Patrizia Fattori and Angel P. del Pobil} } @conference {88, title = {Elevated activation of dopaminergic brain areas facilitates behavioral state transition}, booktitle = {IROS 2011 Workshop on Cognitive Neuroscience Robotics}, year = {2011}, author = {Beata J. Grzyb and J. Boedecker and M. Asada and Angel P. del Pobil} } @conference {32, title = {Hierarchical object recognition inspired by primate brain mechanisms}, booktitle = {Computational Intelligence for Visual Intelligence (CIVI), 2011 IEEE Workshop on}, year = {2011}, keywords = {brain, Estimation, Grasping, hierarchical object recognition, Image color analysis, multimodal integration, mutual projection, neurophysiology, neuroscience hypothesis, object recognition, object weight estimation, primate brain mechanism, real robot, robot vision, Robots, Shape, visual processing, Visualization, visuomotor behavior}, doi = {10.1109/CIVI.2011.5955017}, author = {Eris Chinellato and Javier Felip and Beata J. Grzyb and Antonio Morales and Angel P. del Pobil} } @article {23, title = {Implicit Sensorimotor Mapping of the Peripersonal Space by Gazing and Reaching}, journal = {Autonomous Mental Development, IEEE Transactions on}, volume = {3}, year = {2011}, pages = {43-53}, abstract = {

Primates often perform coordinated eye and arm movements, contextually fixating and reaching towards nearby objects. This combination of looking and reaching to the same target is used by infants to establish an implicit visuomotor representation of the peripersonal space, useful for both oculomotor and arm motor control. In this work, taking inspiration from such behavior and from primate visuomotor mechanisms, a shared sensorimotor map of the environment, built on a radial basis function framework, is configured and trained by the coordinated control of eye and arm movements. Computational results confirm that the approach seems especially suitable for the problem at hand, and for its implementation on a real humanoid robot. By exploratory gazing and reaching actions, either free or goal-based, the artificial agent learns to perform direct and inverse transformations between stereo vision, oculomotor, and joint-space representations. The integrated sensorimotor map that allows to contextually represent the peripersonal space through different vision and motor parameters is never made explicit, but rather emerges thanks to the interaction of the agent with the environment.

}, keywords = {arm motor control, arm movement control, artificial agent, control engineering computing, eye movement control, Eye{\textendash}arm coordination, gazing action, humanoid robot, implicit sensorimotor mapping, implicit visuomotor representation, joint-space representation, motion control, oculomotor control, peripersonal space, radial basis function framework, radial basis function networks, reaching actions, Robotics, self-supervised learning, shared sensorimotor map, spatial awareness, stereo vision}, issn = {1943-0604}, doi = {10.1109/TAMD.2011.2106781}, author = {Eris Chinellato and Marco Antonelli and Beata J. Grzyb and Angel P. del Pobil} } @conference {87, title = {Trying anyways: how ignoring the errors may help in learning new skills}, booktitle = {IEEE International Conference on Development and Learning and Epigenetic Robotics}, year = {2011}, author = {Beata J. Grzyb and J. Boedecker and M. Asada and Angel P. del Pobil and Linda B. Smith} } @article {89, title = {A 3D Grasping System Based on Multimodal Visual and Tactile Processing}, journal = {Industrial Robot Journal}, volume = {36}, year = {2009}, pages = {365-369}, doi = {10.1108/01439910910957138}, author = {Beata J. Grzyb and Eris Chinellato and Antonio Morales and Angel P. del Pobil} } @inbook {91, title = {Eye-Hand Coordination for Reaching in Dorsal Stream Area {V6A}: Computational Lessons}, booktitle = {Bioinspired Applications in Artificial and Natural Computation, LNCS 5602}, year = {2009}, pages = {304{\textendash}313}, publisher = {Springer}, organization = {Springer}, doi = {10.1007/978-3-642-02267-8_33}, author = {Eris Chinellato and Beata J. Grzyb and Nicoletta Marzocchi and A. Bosco and Patrizia Fattori and Angel P. del Pobil}, editor = {J. Mira and J. M. Ferrandez and J.R. Alvarez S{\'a}nchez and F. de la Paz and J. Toledo} } @conference {84, title = {Facial expression recognition based on Liquid State Machines built of alternative neuron models}, booktitle = {Proc. International Joint Conference on Neural Networks IJCNN 2009}, year = {2009}, doi = {10.1109/IJCNN.2009.5179025}, author = {Beata J. Grzyb and Eris Chinellato and Wojcik, G. M. and Kaminski, W. A.} } @inbook {92, title = {Toward an Integrated Visuomotor Representation of the Peripersonal Space}, booktitle = {Bioinspired Applications in Artificial and Natural Computation, LNCS 5602}, year = {2009}, pages = {314{\textendash}323}, doi = {10.1007/978-3-642-02267-8_34}, author = {Eris Chinellato and Beata J. Grzyb and Patrizia Fattori and Angel P. del Pobil}, editor = {J. Mira and J. M. Ferrandez and J.R. Alvarez S{\'a}nchez and F. de la Paz and J. Toledo} } @conference {83, title = {Which model to use for the Liquid State Machine?}, booktitle = {Proc. International Joint Conference on Neural Networks IJCNN 2009}, year = {2009}, doi = {10.1109/IJCNN.2009.5178822}, author = {Beata J. Grzyb and Eris Chinellato and Wojcik, G. M. and Kaminski, W. A.} } @conference {90, title = {Brain Mechanisms for Robotic Object Pose Estimation}, year = {2008}, doi = {10.1109/IJCNN.2008.4634262}, author = {Eris Chinellato and Beata J. Grzyb and Angel P. del Pobil} } @conference {85, title = {Robust grasping of 3{D} objects with stereo vision and tactile feedback}, booktitle = {Intl. Conf. on Climbing and Walking Robots, CLAWAR}, year = {2008}, address = {Coimbra, Portugal}, author = {Beata J. Grzyb and Eris Chinellato and Antonio Morales and Angel P. del Pobil} }