Head stabilization based on a feedback error learning in a humanoid robot

Egidio Falotico; Nino Cauli; Kenji Hashimoto; Przemyslaw Kryczka; Atsuo Takanishi; Paolo Dario; Alain Berthoz; Cecilia Laschi

doi:10.1109/ROMAN.2012.6343793

Head stabilization based on a feedback error learning in a humanoid robot

Egidio Falotico^*, Nino Cauli, Kenji Hashimoto, Przemyslaw Kryczka, Atsuo Takanishi, Paolo Dario, Alain Berthoz, Cecilia Laschi

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

11 Citations (Scopus)

Abstract

In this work we propose an adaptive model for the head stabilization based on a feedback error learning (FEL). This model is capable to overcome the delays caused by the head motor system and adapts itself to the dynamics of the head motion. It has been designed to track an arbitrary reference orientation for the head in space and reject the disturbance caused by trunk motion. For efficient error learning we use the recursive least square algorithm (RLS), a Newton-like method which guarantees very fast convergence. Moreover, we implement a neural network to compute the rotational part of the head inverse kinematics. Verification of the proposed control is conducted through experiments with Matlab SIMULINK and a humanoid robot SABIAN.

Original language	English
Title of host publication	2012 IEEE RO-MAN
Subtitle of host publication	The 21st IEEE International Symposium on Robot and Human Interactive Communication
Pages	449-454
Number of pages	6
DOIs	https://doi.org/10.1109/ROMAN.2012.6343793
Publication status	Published - 2012
Event	2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012 - Paris, France Duration: 2012 Sept 9 → 2012 Sept 13

Publication series

Name	Proceedings - IEEE International Workshop on Robot and Human Interactive Communication

Conference

Conference	2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012
Country/Territory	France
City	Paris
Period	12/9/9 → 12/9/13

ASJC Scopus subject areas

Software
Artificial Intelligence
Human-Computer Interaction

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10.1109/ROMAN.2012.6343793

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Falotico, E., Cauli, N., Hashimoto, K., Kryczka, P., Takanishi, A., Dario, P., Berthoz, A., & Laschi, C. (2012). Head stabilization based on a feedback error learning in a humanoid robot. In 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication (pp. 449-454). Article 6343793 (Proceedings - IEEE International Workshop on Robot and Human Interactive Communication). https://doi.org/10.1109/ROMAN.2012.6343793

Head stabilization based on a feedback error learning in a humanoid robot. / Falotico, Egidio; Cauli, Nino; Hashimoto, Kenji et al.
2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication. 2012. p. 449-454 6343793 (Proceedings - IEEE International Workshop on Robot and Human Interactive Communication).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Falotico, E, Cauli, N, Hashimoto, K, Kryczka, P, Takanishi, A, Dario, P, Berthoz, A & Laschi, C 2012, Head stabilization based on a feedback error learning in a humanoid robot. in 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication., 6343793, Proceedings - IEEE International Workshop on Robot and Human Interactive Communication, pp. 449-454, 2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012, Paris, France, 12/9/9. https://doi.org/10.1109/ROMAN.2012.6343793

Falotico E, Cauli N, Hashimoto K, Kryczka P, Takanishi A, Dario P et al. Head stabilization based on a feedback error learning in a humanoid robot. In 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication. 2012. p. 449-454. 6343793. (Proceedings - IEEE International Workshop on Robot and Human Interactive Communication). doi: 10.1109/ROMAN.2012.6343793

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AU - Dario, Paolo

AU - Berthoz, Alain

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Head stabilization based on a feedback error learning in a humanoid robot

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