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Experimental analysis of the conditions of applicability of a robot sensorimotor coordination scheme based on expected perception

E. Datteri, G. Asuni, G. Teti, C. Laschi, P. Dario, E. Guglielmelli
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)  
This paper describes an experimental work conducted in order to estimate the conditions of applicability of Expected Perception (EP) based a scheme for robot sensorimotor coordination.  ...  The experimental results give support and useful insights for analyzing the applicability of the EP-based scheme.  ...  CONCLUSIONS ON CONDITIONS OF APPLICABILITY OF THE EP-BASED SCHEME The obtained experimental results are consistent with the following general conclusions concerning the conditions of applicability of the  ... 
doi:10.1109/iros.2004.1389577 dblp:conf/iros/DatteriATLDG04 fatcat:fxx5dverx5bd7o6beqldcxu4nm

Bioinspired Mechanisms and Sensorimotor Schemes for Flying: A Preliminary Study for a Robotic Bat [chapter]

Carmine Tommaso Recchiuto, Rezia Molfino, Anders Hedenströem, Herbert Peremans, Vittorio Cipolla, Aldo Frediani, Emanuele Rizzo, Giovanni Gerardo Muscolo
2014 Lecture Notes in Computer Science  
The authors present a critical review on flying motion and echolocation in robotics, directly derived from research on biology and flight mechanics of bats, aimed at designing and prototyping a new generation  ...  To achieve this goal, the paper starts with an in-depth review on real bats, studying and proposing models derived from the analysis of the aerodynamics of bat wings combined together with the investigation  ...  Sensorimotor Schemes The principle of sensory-motor coordination was inspired by John Dewey, who as early as 1896, had pointed out that sensation cannot be separated from action, and that perception must  ... 
doi:10.1007/978-3-319-10401-0_4 fatcat:4g53zxk4l5bcpiijyl5zc4irpm

How Cognitive Models of Human Body Experience Might Push Robotics

Tim Schürmann, Betty Jo Mohler, Jan Peters, Philipp Beckerle
2019 Frontiers in Neurorobotics  
In this perspective paper, we review cognitive models that aim to approximate the process of human sensorimotor behavior generation, discuss their challenges and potentials in robotics, and give an overview  ...  While model accuracy is still subject to improvement, human-inspired cognitive models support the understanding of how the modulating factors of human body experience are blended.  ...  The increased interest and progress made toward such capabilities has stimulated research in this direction from which we can draw on a variety of works on robotic self-perception (Sturm et al., 2009;  ... 
doi:10.3389/fnbot.2019.00014 pmid:31031614 pmcid:PMC6470381 fatcat:gc64p4mctjehhi3p7d47breyxm

Attention Architectures for Machine Vision and Mobile Robots [chapter]

Lucas Paletta, Erich Rome, Hilary Buxton
2005 Neurobiology of Attention  
In robotic systems, we understand attention embedded in the context of optimizing sensorimotor behavior and multisensor-based active perception.  ...  We present an overview on system architectures that play a crucial role in attentive robots, with emphasis on multimodal information fusion and humanoid robots. Neurobiology of Attention  ...  Based on these mechanisms, the robot learns the sensorimotor coordination when the robot can watch the salient object by shifting its gaze direction from the caregiver's face to the object. B.  ... 
doi:10.1016/b978-012375731-9/50109-9 fatcat:u33zz74qjnbkfeagryxffx7lve

Perspectives on human-human sensorimotor interactions for the design of rehabilitation robots

Andrew Sawers, Lena H Ting
2014 Journal of NeuroEngineering and Rehabilitation  
Based on the goals of physical rehabilitation, three subcategories of sensorimotor interaction are identified: sensorimotor collaboration, sensorimotor assistance, and sensorimotor education.  ...  Physical interactions between patients and therapists during rehabilitation have served as motivation for the design of rehabilitation robots, yet we lack a fundamental understanding of the principles  ...  Acknowledgements The authors wish to thank J. Lucas McKay, Madeleine Hackney and Charles C. Kemp for assistance in revising the manuscript, as well as Karen Liu, Tiffany L.  ... 
doi:10.1186/1743-0003-11-142 pmid:25284060 pmcid:PMC4197261 fatcat:ccmfalfgxbhr7f4dzdp3h5kbya

Design of a Bio-Inspired 3D Orientation Coordinate System and Application in Robotised Tele-Sonography [chapter]

Courreges Fabien
2011 Robot Arms  
Next section will provide a deeper experimental analysis of this system with respect to the sonography application.  ...  Thus the most expensive element in such a teleoperation scheme will remain the robot.  ... 
doi:10.5772/16264 fatcat:6gc4tnzj7vbo3oiftv4gl75rei

Active Haptic Perception in Robots: A Review

Lucia Seminara, Paolo Gastaldo, Simon J. Watt, Kenneth F. Valyear, Fernando Zuher, Fulvio Mastrogiovanni
2019 Frontiers in Neurorobotics  
In the past few years a new scenario for robot-based applications has emerged. Service and mobile robots have opened new market niches.  ...  These new requirements ask also for a change of paradigm in the design of robots: on-line and safe feedback motion control becomes the core of modern robot systems.  ...  In the past few years a new scenario for robot-based applications has emerged. Service and mobile robots have opened new market niches.  ... 
doi:10.3389/fnbot.2019.00053 pmid:31379549 pmcid:PMC6651744 fatcat:5uytqov3zzg3nndphtdni5dlhu

Learning to perceive in the sensorimotor approach: Piaget's theory of equilibration interpreted dynamically

Ezequiel Alejandro Di Paolo, Xabier E. Barandiaran, Michael Beaton, Thomas Buhrmann
2014 Frontiers in Human Neuroscience  
According to the sensorimotor approach, perception involves mastery of regular sensorimotor co-variations that depend on the agent and the environment, also known as the "laws" of sensorimotor contingencies  ...  This theory highlights the importance of intrinsic sensorimotor norms, in terms of the closure of sensorimotor schemes.  ...  of the theory, the relation between its proposed concepts, and the implications for experimental and modeling/robotic work.  ... 
doi:10.3389/fnhum.2014.00551 pmid:25126065 pmcid:PMC4115614 fatcat:4khoal5rdzajboh2fazxpy4fpi

Implicit Sensorimotor Mapping of the Peripersonal Space by Gazing and Reaching

Eris Chinellato, Marco Antonelli, Beata J. Grzyb, Angel P. del Pobil
2011 IEEE Transactions on Autonomous Mental Development  
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  ...  Computational results confirm that the approach seems especially suitable for the problem at hand, and for its implementation on a real humanoid robot.  ...  condition for the actual experimental learning process by the robot.  ... 
doi:10.1109/tamd.2011.2106781 fatcat:xo42ul2bo5fbjjgyfzvfj4mnzq

A two-arm situated artificial communicator for human-robot cooperative assembly

Jianwei Zhang, A. Knoll
2003 IEEE transactions on industrial electronics (1982. Print)  
We present the development of a robot system with some cognitive capabilities, as well as experimental results.  ...  We then discuss the control architecture of the robot system with two stationary robot arms by describing the functionalities of perception, instruction understanding, and execution.  ...  Our experimental results show under the most diverse conditions that we can extract geometric features based on the calculations of moments to encode the positioning information and to find nongeometric  ... 
doi:10.1109/tie.2003.814767 fatcat:jx5ntrlz5rgxvh5eoj4hywzw3q

A real-time spiking cerebellum model for learning robot control

Richard R. Carrillo, Eduardo Ros, Christian Boucheny, Olivier J.-M.D. Coenen
2008 Biosystems (Amsterdam. Print)  
We describe a neural network model of the cerebellum based on integrate-and-fire spiking neurons with conductance-based synapses.  ...  The neuron characteristics are derived from our earlier detailed models of the different cerebellar neurons. We tested the cerebellum model in a real-time control application with a robotic platform.  ...  Acknowledgements This work was supported by the EU project SENSOPAC (IST-028056) and the National Spanish Grant DEPROVI (DPI 2004-07032).  ... 
doi:10.1016/j.biosystems.2008.05.008 pmid:18616974 fatcat:kjw5zkdywjax3az45dn7upmpam

A Lyapunov-Stable Adaptive Method to Approximate Sensorimotor Models for Sensor-Based Control

David Navarro-Alarcon, Jiaming Qi, Jihong Zhu, Andrea Cherubini
2020 Frontiers in Neurorobotics  
In this article, we present a new scheme that approximates unknown sensorimotor models of robots by using feedback signals only.  ...  The formulation of the uncalibrated sensor-based regulation problem is first formulated, then, we develop a computational method that distributes the model estimation problem amongst multiple adaptive  ...  external sensors, deformation of objects), the robot may no longer properly coordinate actions with perception.  ... 
doi:10.3389/fnbot.2020.00059 pmid:33041777 pmcid:PMC7527605 fatcat:ztelmz2yrfgabftqwybwbs3yzu

Seamless Integration and Coordination of Cognitive Skills in Humanoid Robots: A Deep Learning Approach [article]

Jungsik Hwang, Jun Tani
2017 arXiv   pre-print
This study investigates how adequate coordination among the different cognitive processes of a humanoid robot can be developed through end-to-end learning of direct perception of visuomotor stream.  ...  The model showed synergic coordination of perception, action and decision making, and it integrated and coordinated a set of cognitive skills including visual perception, intention reading, attention switching  ...  then operated the robot based on the output of the model.  ... 
arXiv:1706.02423v1 fatcat:gm2vkkdivnhxtoknaczgrv4b54

A Lyapunov-Stable Adaptive Method to Approximate Sensorimotor Models for Sensor-Based Control [article]

David Navarro-Alarcon, Jiaming Qi, Jihong Zhu, Andrea Cherubini
2020 arXiv   pre-print
In this article, we present a new scheme that approximates unknown sensorimotor models of robots by using feedback signals only.  ...  The formulation of the uncalibrated sensor-based regulation problem is first formulated, then, we develop a computational method that distributes the model estimation problem amongst multiple adaptive  ...  external sensors, deformation of objects), the robot may no longer properly coordinate actions with perception.  ... 
arXiv:2004.12097v3 fatcat:axls67xayfc6bli57bbcqxwayq

Internal models in sensorimotor integration: perspectives from adaptive control theory

Chung Tin, Chi-Sang Poon
2005 Journal of Neural Engineering  
This interdisciplinary framework should facilitate the experimental elucidation of the mechanisms of internal models in sensorimotor systems and the reverse engineering of such neural mechanisms into novel  ...  Possible applicability of a Luenberger observer and an extended Kalman filter to state estimation problems-such as sensorimotor prediction or the resolution of vestibular sensory ambiguity-is also discussed  ...  The authors' work was supported by National Institutes of Health grant nos HL067966, HL072849 and HL075014.  ... 
doi:10.1088/1741-2560/2/3/s01 pmid:16135881 pmcid:PMC2263077 fatcat:nrseuyhlszcdbdm53zrqtb3waq
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