%0 Conference Paper %B AAAI Workshops %D 2012 %T Augmenting the Reachable Space in the NAO Humanoid Robot %A Marco Antonelli %A Beata J. Grzyb %A Vicente Castelló %A Angel P. del Pobil %K autonomous learning %K cues integration %K humanoid robot %K radial basis functions %K recursive least square %X

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.

%B AAAI Workshops %G eng %U http://www.aaai.org/ocs/index.php/WS/AAAIW12/paper/view/5231 %0 Book Section %B Artificial Neural Networks and Machine Learning – ICANN 2012 %D 2012 %T Integration of Static and Self-motion-Based Depth Cues for Efficient Reaching and Locomotor Actions %A Beata J. Grzyb %A Vicente Castelló %A Marco Antonelli %A Angel P. del Pobil %E Villa, AlessandroE.P. %E Duch, Włodzisław %E Érdi, Péter %E Masulli, Francesco %E Palm, Günther %K depth cue integration %K distance perception %K embodied perception %K reward-mediated learning %B Artificial Neural Networks and Machine Learning – ICANN 2012 %S Lecture Notes in Computer Science %I Springer Berlin Heidelberg %V 7552 %P 322-329 %@ 978-3-642-33268-5 %G eng %U http://dx.doi.org/10.1007/978-3-642-33269-2_41 %R 10.1007/978-3-642-33269-2_41 %0 Book Section %B From Animals to Animats 12 %D 2012 %T Plastic Representation of the Reachable Space for a Humanoid Robot %A Marco Antonelli %A Beata J. Grzyb %A Vicente Castelló %A Angel P. del Pobil %E Ziemke, Tom %E Balkenius, Christian %E Hallam, John %B From Animals to Animats 12 %S Lecture Notes in Computer Science %I Springer Berlin Heidelberg %V 7426 %P 167-176 %@ 978-3-642-33092-6 %G eng %U http://dx.doi.org/10.1007/978-3-642-33093-3_17 %R 10.1007/978-3-642-33093-3_17 %0 Conference Paper %B Proceedings of Post-Graduate Conference on Robotics and Development of Cognition (A satellite Event of the International Conference on Artificial Neural Networks - ICANN 2012). %D 2012 %T Reachable by walking: inappropriate integration of near and far space may lead to distance errors %A Beata J. Grzyb %A Vicente Castelló %A Angel P. del Pobil %B Proceedings of Post-Graduate Conference on Robotics and Development of Cognition (A satellite Event of the International Conference on Artificial Neural Networks - ICANN 2012). %G eng