A bio-inspired predictive sensory-motor coordination scheme for robot reaching and preshaping
2008 (English)In: Autonomous Robots, ISSN 0929-5593, E-ISSN 1573-7527, Vol. 25, no 1-2, 85-101 p.Article in journal (Refereed) Published
This paper presents a sensory-motor coordination scheme for a robot hand-arm-head system that provides the robot with the capability to reach an object while pre-shaping the fingers to the required grasp configuration and while predicting the tactile image that will be perceived after grasping. A model for sensory-motor coordination derived from studies in humans inspired the development of this scheme. A peculiar feature of this model is the prediction of the tactile image.The implementation of the proposed scheme is based on a neuro-fuzzy module that, after a learning phase, starting from visual data, calculates the position and orientation of the hand for reaching, selects the best-suited hand configuration, and predicts the tactile feedback. The implementation of the scheme on a humanoid robot allowed experimental validation of its effectiveness in robotics and provided perspectives on applications of sensory predictions in robot motor control.
Place, publisher, year, edition, pages
Boston: Kluwer Academic Publishers , 2008. Vol. 25, no 1-2, 85-101 p.
Predictive control, sensory-motor coordination, robot grasping, robot learning, expected perception, internal models, neuro-fuzzy controllers
IdentifiersURN: urn:nbn:se:umu:diva-20605DOI: 10.1007/s10514-007-9065-4OAI: oai:DiVA.org:umu-20605DiVA: diva2:209154