A Bio-inspired Neural Sensory-Motor Coordination Scheme for Robot Reaching and Preshaping
2006 (English)In: Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics : BioRob 2006: understanding how biological systems work, to guide the design of novel, high performance bio-inspired machines and to develop novel devices that can better act on, substitute parts of, and assist human beings, Piscataway, NJ: IEEE , 2006, 531-536 p.Conference paper (Other academic)
We present a sensory-motor coordination scheme for a robot hand-arm-head system that provides the robot with the capability to reach for and to grasp an object, while pre-shaping the fingers to the required grasp configuration. A model for sensory-motor coordination derived from studies in humans inspired the development of the scheme. A special feature of this model is the prediction of the tactile image perceived after grasping. The proposed scheme is based on a neuro-fuzzy modnle that, after a learning phase, starting from visual data, calculates the position and orientation of the hand for grasping, selects the best-suited hand configuration, and predicts the tactile feedback after grasping. The implementation of the scheme on a humanoid robot ailowed experimental validation of its effectiveness in robotics and provided perspectives on applications of sensory predictions in robot motor control.
Place, publisher, year, edition, pages
Piscataway, NJ: IEEE , 2006. 531-536 p.
IdentifiersURN: urn:nbn:se:umu:diva-12667DOI: 10.1109/BIOROB.2006.1639143ISBN: 1-4244-0040-6OAI: oai:DiVA.org:umu-12667DiVA: diva2:152338
The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2006, Pisa, Italy, Febrary 20-22, 2006.