%0 Conference Paper %B 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems %D 2017 %T UJI RobInLab's Approach to the Amazon Robotics Challenge 2017 %A Angel P. del Pobil %A Majd Kassawat %A Angel J Duran %A Monica Arias %A Nataliya Nechyporenko %A Arijit Mallick %A Enric Cervera %A Dipendra Subedi %A Ilia Vasilev %A Daniel Cardin %A Emanuele Sansebastiano %A Ester Martinez-Martin %A Antonio Morales %A Gustavo A. Casañ %A Alejandro Arenal %A Bjorn Goriatcheff %A Carlos Rubert %A Gabriel Recatala %B 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems %I IEEE Xplore %C Daegu, Korea %G eng %0 Conference Paper %B International Conference on Intelligent Autonomous Systems %D 2016 %T Discovering the Relationship Between the Morphology and the Internal Model in a Robot System by Means of Neural Networks %A Angel J Duran %A del Pobil, Angel P %B International Conference on Intelligent Autonomous Systems %I Springer %G eng %0 Conference Paper %B Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on %D 2016 %T Initial weight estimation for learning the internal model based on the knowledge of the robot morphology %A Angel J Duran %A del Pobil, Angel P %B Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on %I IEEE %G eng %0 Conference Paper %B International Conference on Simulation of Adaptive Behavior %D 2016 %T A Model of Artificial Genotype and Norm of Reaction in a Robotic System %A Angel J Duran %A Angel P. del Pobil %B International Conference on Simulation of Adaptive Behavior %I Springer International Publishing %G eng %0 Conference Paper %B IEEE International Conference on Robotics and Automation (ICRA) %D 2015 %T Adaptive Saccade Controller Inspired by the Primates’ Cerebellum %A Antonelli, Marco %A Angel J Duran %A Eris Chinellato %A Angel P. del Pobil %K Biologically-Inspired Robots %K Control Architectures and Programming %K Learning and Adaptive Systems %X
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.
%B Robotics and Autonomous Systems %G eng %U http://www.sciencedirect.com/science/article/pii/S092188901400311X %R 10.1016/j.robot.2014.11.018 %0 Conference Proceedings %B International Joint Conference in Neural Networks %D 2013 %T Application of the Visuo-Oculomotor Transformation to Ballistic and Visually-Guided Eye Movements %A Marco Antonelli %A Angel J Duran %A Angel P. del Pobil %B International Joint Conference in Neural Networks %G eng %0 Book Section %B Designing Intelligent Robots: Reintegrating AI %D 2013 %T Integration of Visuomotor Learning, Cognitive Grasping and Sensor-Based Physical Interaction in the UJI Humanoid Torso %A Angel P. del Pobil %A Angel J Duran %A Marco Antonelli %A Javier Felip %A Antonio Morales %A M. Prats %A Eris Chinellato %B Designing Intelligent Robots: Reintegrating AI %I AAAI %V SS-13-04 %P pp. 6-11 %@ 978-1-57735-601-1 %G eng %0 Book Section %B Biomimetic and Biohybrid Systems %D 2013 %T Speeding-Up the Learning of Saccade Control %A Marco Antonelli %A Angel J Duran %A Eris Chinellato %A Angel P. del Pobil %E Lepora, NathanF. %E Mura, Anna %E Krapp, Holger G. %E Paul F. M. J. Verschure %E Tony J. Prescott %B Biomimetic and Biohybrid Systems %S Lecture Notes in Computer Science %I Springer Berlin Heidelberg %V 8064 %P 12-23 %@ 978-3-642-39801-8 %G eng %U http://dx.doi.org/10.1007/978-3-642-39802-5_2 %R 10.1007/978-3-642-39802-5_2