Change search
ReferencesLink to record
Permanent link

Direct link
A Bio-inspired Neural Sensory-Motor Coordination Scheme for Robot Reaching and Preshaping
Show others and affiliations
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)
Abstract [en]

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.
URN: urn:nbn:se:umu:diva-12667DOI: 10.1109/BIOROB.2006.1639143ISBN: 1-4244-0040-6OAI: diva2:152338
The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2006, Pisa, Italy, Febrary 20-22, 2006.
Available from: 2007-04-19 Created: 2007-04-19 Last updated: 2011-04-28Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full text

Search in DiVA

By author/editor
Johansson, Roland S
By organisation

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

Total: 37 hits
ReferencesLink to record
Permanent link

Direct link