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 - How Walking Influences the Development of Absolute Distance Perception T2 - From Animals to Animats 12 Y1 - 2012 A1 - Beata J. Grzyb A1 - Angel P. del Pobil A1 - Linda B. Smith 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 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 - JOUR T1 - Pose Estimation Through Cue Integration: A Neuroscience-Inspired Approach JF - Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on Y1 - 2012 A1 - Eris Chinellato A1 - Beata J. Grzyb A1 - Angel P. del Pobil KW - binocular cue integration KW - Biological system modeling KW - Cameras KW - Computational modeling KW - Computer Simulation KW - Computer-Assisted KW - Cybernetics KW - Depth Perception KW - Estimation KW - Grasping KW - grippers KW - Humans KW - Image Processing KW - Intelligent robots KW - Models KW - monocular cue integration KW - Neurological KW - neuropsychological effects KW - neuroscience-inspired model KW - object estimation KW - perspective orientation estimator KW - pose estimation KW - Reliability KW - Reproducibility of Results KW - robot sensory systems KW - robot vision KW - robot vision systems KW - Robotics KW - Robots KW - stereo image processing KW - stereo vision KW - stereoptic orientation estimator KW - Task Performance and Analysis KW - visual estimation KW - visual perception KW - Visualization AB -

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.

VL - 42 ER - TY - JOUR T1 - Pose Estimation Through Cue Integration: A Neuroscience-Inspired Approach JF - IEEE Transactions on Systems, Man, and Cybernetics, Part B Y1 - 2012 A1 - Eris Chinellato A1 - Beata J. Grzyb A1 - Angel P. del Pobil VL - 42(2) 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 - TY - CONF T1 - Between frustration and elation: sense of control regulates the intrinsic motivation for motor learning T2 - AAAI Workshop on Lifelong learning Y1 - 2011 A1 - Beata J. Grzyb A1 - J. Boedecker A1 - M. Asada A1 - Angel P. del Pobil A1 - Linda B. Smith JF - AAAI Workshop on Lifelong learning ER - TY - JOUR T1 - The Dorso-medial visual stream: From neural activation to sensorimotor interaction JF - Neurocomputing Y1 - 2011 A1 - Eris Chinellato A1 - Beata J. Grzyb A1 - Nicoletta Marzocchi A1 - A. Bosco A1 - Patrizia Fattori A1 - Angel P. del Pobil KW - Bio-inspired systems AB -

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.

VL - 74 UR - http://www.sciencedirect.com/science/article/pii/S0925231210004212 ER - TY - CONF T1 - Elevated activation of dopaminergic brain areas facilitates behavioral state transition T2 - IROS 2011 Workshop on Cognitive Neuroscience Robotics Y1 - 2011 A1 - Beata J. Grzyb A1 - J. Boedecker A1 - M. Asada A1 - Angel P. del Pobil JF - IROS 2011 Workshop on Cognitive Neuroscience Robotics ER - TY - CONF T1 - Hierarchical object recognition inspired by primate brain mechanisms T2 - Computational Intelligence for Visual Intelligence (CIVI), 2011 IEEE Workshop on Y1 - 2011 A1 - Eris Chinellato A1 - Javier Felip A1 - Beata J. Grzyb A1 - Antonio Morales A1 - Angel P. del Pobil KW - brain KW - Estimation KW - Grasping KW - hierarchical object recognition KW - Image color analysis KW - multimodal integration KW - mutual projection KW - neurophysiology KW - neuroscience hypothesis KW - object recognition KW - object weight estimation KW - primate brain mechanism KW - real robot KW - robot vision KW - Robots KW - Shape KW - visual processing KW - Visualization KW - visuomotor behavior JF - Computational Intelligence for Visual Intelligence (CIVI), 2011 IEEE Workshop on ER - TY - JOUR T1 - Implicit Sensorimotor Mapping of the Peripersonal Space by Gazing and Reaching JF - Autonomous Mental Development, IEEE Transactions on Y1 - 2011 A1 - Eris Chinellato A1 - Marco Antonelli A1 - Beata J. Grzyb A1 - Angel P. del Pobil KW - arm motor control KW - arm movement control KW - artificial agent KW - control engineering computing KW - eye movement control KW - Eye–arm coordination KW - gazing action KW - humanoid robot KW - implicit sensorimotor mapping KW - implicit visuomotor representation KW - joint-space representation KW - motion control KW - oculomotor control KW - peripersonal space KW - radial basis function framework KW - radial basis function networks KW - reaching actions KW - Robotics KW - self-supervised learning KW - shared sensorimotor map KW - spatial awareness KW - stereo vision AB -

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.

VL - 3 ER - TY - CONF T1 - Trying anyways: how ignoring the errors may help in learning new skills T2 - IEEE International Conference on Development and Learning and Epigenetic Robotics Y1 - 2011 A1 - Beata J. Grzyb A1 - J. Boedecker A1 - M. Asada A1 - Angel P. del Pobil A1 - Linda B. Smith JF - IEEE International Conference on Development and Learning and Epigenetic Robotics ER - TY - JOUR T1 - A 3D Grasping System Based on Multimodal Visual and Tactile Processing JF - Industrial Robot Journal Y1 - 2009 A1 - Beata J. Grzyb A1 - Eris Chinellato A1 - Antonio Morales A1 - Angel P. del Pobil VL - 36 ER - TY - CHAP T1 - Eye-Hand Coordination for Reaching in Dorsal Stream Area {V6A}: Computational Lessons T2 - Bioinspired Applications in Artificial and Natural Computation, LNCS 5602 Y1 - 2009 A1 - Eris Chinellato A1 - Beata J. Grzyb A1 - Nicoletta Marzocchi A1 - A. Bosco A1 - Patrizia Fattori A1 - Angel P. del Pobil ED - J. Mira ED - J. M. Ferrandez ED - J.R. Alvarez Sánchez ED - F. de la Paz ED - J. Toledo JF - Bioinspired Applications in Artificial and Natural Computation, LNCS 5602 PB - Springer ER - TY - CONF T1 - Facial expression recognition based on Liquid State Machines built of alternative neuron models T2 - Proc. International Joint Conference on Neural Networks IJCNN 2009 Y1 - 2009 A1 - Beata J. Grzyb A1 - Eris Chinellato A1 - Wojcik, G. M. A1 - Kaminski, W. A. JF - Proc. International Joint Conference on Neural Networks IJCNN 2009 ER - TY - CHAP T1 - Toward an Integrated Visuomotor Representation of the Peripersonal Space T2 - Bioinspired Applications in Artificial and Natural Computation, LNCS 5602 Y1 - 2009 A1 - Eris Chinellato A1 - Beata J. Grzyb A1 - Patrizia Fattori A1 - Angel P. del Pobil ED - J. Mira ED - J. M. Ferrandez ED - J.R. Alvarez Sánchez ED - F. de la Paz ED - J. Toledo JF - Bioinspired Applications in Artificial and Natural Computation, LNCS 5602 ER - TY - CONF T1 - Which model to use for the Liquid State Machine? T2 - Proc. International Joint Conference on Neural Networks IJCNN 2009 Y1 - 2009 A1 - Beata J. Grzyb A1 - Eris Chinellato A1 - Wojcik, G. M. A1 - Kaminski, W. A. JF - Proc. International Joint Conference on Neural Networks IJCNN 2009 ER - TY - CONF T1 - Brain Mechanisms for Robotic Object Pose Estimation Y1 - 2008 A1 - Eris Chinellato A1 - Beata J. Grzyb A1 - Angel P. del Pobil ER - TY - CONF T1 - Robust grasping of 3{D} objects with stereo vision and tactile feedback T2 - Intl. Conf. on Climbing and Walking Robots, CLAWAR Y1 - 2008 A1 - Beata J. Grzyb A1 - Eris Chinellato A1 - Antonio Morales A1 - Angel P. del Pobil JF - Intl. Conf. on Climbing and Walking Robots, CLAWAR CY - Coimbra, Portugal ER -