TY - CONF T1 - Augmenting the Reachable Space in the NAO Humanoid Robot T2 - AAAI Workshops Y1 - 2012 A1 - Marco Antonelli A1 - Beata J. Grzyb A1 - Vicente Castelló A1 - Angel P. del Pobil KW - autonomous learning KW - cues integration KW - humanoid robot KW - radial basis functions KW - recursive least square AB -
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.
JF - AAAI Workshops UR - http://www.aaai.org/ocs/index.php/WS/AAAIW12/paper/view/5231 ER - TY - CHAP T1 - Integration of Static and Self-motion-Based Depth Cues for Efficient Reaching and Locomotor Actions T2 - Artificial Neural Networks and Machine Learning – ICANN 2012 Y1 - 2012 A1 - Beata J. Grzyb A1 - Vicente Castelló A1 - Marco Antonelli A1 - Angel P. del Pobil ED - Villa, AlessandroE.P. ED - Duch, Włodzisław ED - Érdi, Péter ED - Masulli, Francesco ED - Palm, Günther KW - depth cue integration KW - distance perception KW - embodied perception KW - reward-mediated learning JF - Artificial Neural Networks and Machine Learning – ICANN 2012 T3 - Lecture Notes in Computer Science PB - Springer Berlin Heidelberg VL - 7552 SN - 978-3-642-33268-5 UR - http://dx.doi.org/10.1007/978-3-642-33269-2_41 ER - TY - CHAP T1 - Plastic Representation of the Reachable Space for a Humanoid Robot T2 - From Animals to Animats 12 Y1 - 2012 A1 - Marco Antonelli A1 - Beata J. Grzyb A1 - Vicente Castelló A1 - Angel P. del Pobil ED - Ziemke, Tom ED - Balkenius, Christian ED - Hallam, John JF - From Animals to Animats 12 T3 - Lecture Notes in Computer Science PB - Springer Berlin Heidelberg VL - 7426 SN - 978-3-642-33092-6 UR - http://dx.doi.org/10.1007/978-3-642-33093-3_17 ER - TY - CONF T1 - Reachable by walking: inappropriate integration of near and far space may lead to distance errors T2 - Proceedings of Post-Graduate Conference on Robotics and Development of Cognition (A satellite Event of the International Conference on Artificial Neural Networks - ICANN 2012). Y1 - 2012 A1 - Beata J. Grzyb A1 - Vicente Castelló A1 - Angel P. del Pobil JF - Proceedings of Post-Graduate Conference on Robotics and Development of Cognition (A satellite Event of the International Conference on Artificial Neural Networks - ICANN 2012). ER -