TY - CONF T1 - UJI RobInLab's Approach to the Amazon Robotics Challenge 2017 T2 - 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems Y1 - 2017 A1 - Angel P. del Pobil A1 - Majd Kassawat A1 - Angel J Duran A1 - Monica Arias A1 - Nataliya Nechyporenko A1 - Arijit Mallick A1 - Enric Cervera A1 - Dipendra Subedi A1 - Ilia Vasilev A1 - Daniel Cardin A1 - Emanuele Sansebastiano A1 - Ester Martinez-Martin A1 - Antonio Morales A1 - Gustavo A. Casañ A1 - Alejandro Arenal A1 - Bjorn Goriatcheff A1 - Carlos Rubert A1 - Gabriel Recatala JF - 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems PB - IEEE Xplore CY - Daegu, Korea ER - TY - CONF T1 - Discovering the Relationship Between the Morphology and the Internal Model in a Robot System by Means of Neural Networks T2 - International Conference on Intelligent Autonomous Systems Y1 - 2016 A1 - Angel J Duran A1 - del Pobil, Angel P JF - International Conference on Intelligent Autonomous Systems PB - Springer ER - TY - CONF T1 - Initial weight estimation for learning the internal model based on the knowledge of the robot morphology T2 - Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on Y1 - 2016 A1 - Angel J Duran A1 - del Pobil, Angel P JF - Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on PB - IEEE ER - TY - CONF T1 - A Model of Artificial Genotype and Norm of Reaction in a Robotic System T2 - International Conference on Simulation of Adaptive Behavior Y1 - 2016 A1 - Angel J Duran A1 - Angel P. del Pobil JF - International Conference on Simulation of Adaptive Behavior PB - Springer International Publishing ER - TY - CONF T1 - Adaptive Saccade Controller Inspired by the Primates’ Cerebellum T2 - IEEE International Conference on Robotics and Automation (ICRA) Y1 - 2015 A1 - Antonelli, Marco A1 - Angel J Duran A1 - Eris Chinellato A1 - Angel P. del Pobil KW - Biologically-Inspired Robots KW - Control Architectures and Programming KW - Learning and Adaptive Systems AB -
Saccades are fast eye movements that allow humans and robots to bring the visual target in the center of the visual field. Saccades are open loop with respect to the vision system, thus their execution require a precise knowledge of the internal model of the oculomotor system. In this work, we modeled the saccade control, taking inspiration from the recurrent loops between the cerebellum and the brainstem. In this model, the brainstem acts as a fixed-inverse model of the oculomotor system, while the cerebellum acts as an adaptive element that learns the internal model of the oculomotor system. The adaptive filter is implemented using a state-of-the- art neural network, called I-SSGPR. The proposed approach, namely recurrent architecture, was validated through experiments performed both in simulation and on an antropomorphic robotic head. Moreover, we compared the recurrent architecture with another model of the cerebellum, the feedback error learning. Achieved results show that the recurrent architecture outperforms the feedback error learning in terms of accuracy and insensitivity to the choice of the feedback controller.
 
11:20-11:24, Paper FrA2T5.6 
JF - IEEE International Conference on Robotics and Automation (ICRA) CY - Seattle, Washington, USA ER - TY - CONF T1 - Tombatossals: A humanoid torso for autonomous sensor-based tasks T2 - Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on Y1 - 2015 A1 - Felip, Javier A1 - Angel J Duran A1 - Antonelli, Marco A1 - Morales, Antonio A1 - Angel P. del Pobil JF - Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on PB - IEEE ER - TY - JOUR T1 - A hierarchical system for a distributed representation of the peripersonal space of a humanoid robot JF - IEEE Trans. Auton. Mental Develop Y1 - 2014 A1 - Marco Antonelli A1 - Gibaldi, Agostino A1 - Beuth, Frederik A1 - Angel J Duran A1 - Canessa, Andrea A1 - Chessa, Manuela A1 - Solari, F A1 - Angel P. del Pobil A1 - Hamker, F A1 - Eris Chinellato A1 - Sabatini, SP ER - TY - JOUR T1 - Learning the visual-oculomotor transformation: Effects on saccade control and space representation JF - Robotics and Autonomous Systems Y1 - 2014 A1 - Marco Antonelli A1 - Angel J Duran A1 - Eris Chinellato A1 - Angel P. del Pobil KW - Cerebellum KW - Gaussian process regression KW - Humanoid robotics KW - Sensorimotor transformation KW - stereo vision AB -

Active eye movements can be exploited to build a visuomotor representation of the surrounding environment. Maintaining and improving such representation requires to update the internal model involved in the generation of eye movements. From this perspective, action and perception are thus tightly coupled and interdependent. In this work, we encoded the internal model for oculomotor control with an adaptive filter inspired by the functionality of the cerebellum. Recurrent loops between a feed-back controller and the internal model allow our system to perform accurate binocular saccades and create an implicit representation of the nearby space. Simulations results show that this recurrent architecture outperforms classical feedback-error-learning in terms of both accuracy and sensitivity to system parameters. The proposed approach was validated implementing the framework on an anthropomorphic robotic head.

UR - http://www.sciencedirect.com/science/article/pii/S092188901400311X ER - TY - Generic T1 - Application of the Visuo-Oculomotor Transformation to Ballistic and Visually-Guided Eye Movements T2 - International Joint Conference in Neural Networks Y1 - 2013 A1 - Marco Antonelli A1 - Angel J Duran A1 - Angel P. del Pobil JF - International Joint Conference in Neural Networks ER - TY - CHAP T1 - Integration of Visuomotor Learning, Cognitive Grasping and Sensor-Based Physical Interaction in the UJI Humanoid Torso T2 - Designing Intelligent Robots: Reintegrating AI Y1 - 2013 A1 - Angel P. del Pobil A1 - Angel J Duran A1 - Marco Antonelli A1 - Javier Felip A1 - Antonio Morales A1 - M. Prats A1 - Eris Chinellato JF - Designing Intelligent Robots: Reintegrating AI PB - AAAI VL - SS-13-04 SN - 978-1-57735-601-1 ER - TY - CHAP T1 - Speeding-Up the Learning of Saccade Control T2 - Biomimetic and Biohybrid Systems Y1 - 2013 A1 - Marco Antonelli A1 - Angel J Duran A1 - Eris Chinellato A1 - Angel P. del Pobil ED - Lepora, NathanF. ED - Mura, Anna ED - Krapp, Holger G. ED - Paul F. M. J. Verschure ED - Tony J. Prescott JF - Biomimetic and Biohybrid Systems T3 - Lecture Notes in Computer Science PB - Springer Berlin Heidelberg VL - 8064 SN - 978-3-642-39801-8 UR - http://dx.doi.org/10.1007/978-3-642-39802-5_2 ER -