TY - GEN
T1 - Reaching for the unreachable
T2 - 2013 13th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2013
AU - Brandão, Martim
AU - Jamone, Lorenzo
AU - Kryczka, Przemyslaw
AU - Endo, Nobotsuna
AU - Hashimoto, Kenji
AU - Takanishi, Atsuo
N1 - Publisher Copyright:
© 2013 IEEE.
PY - 2015/2/3
Y1 - 2015/2/3
N2 - We present a novel control architecture for the integration of visually guided walking and whole-body reaching in a humanoid robot.We propose to use robot gaze as a common reference frame for both locomotion and reaching, as suggested by behavioral neuroscience studies in humans. A gaze controller allows the robot to track and fixate a target object, and motor information related to gaze control is then used to i) estimate the reachability of the target, ii) steer locomotion, iii) control whole-body reaching. The reachability is a measure of how well the object can be reached for, depending on the position and posture of the robot with respect to the target, and it is obtained from the gaze motor information using a mapping that has been learned autonomously by the robot through motor experience: we call this mapping Reachable Space Map. In our approach, both locomotion and whole-body movements are seen as ways to maximize the reachability of a visually detected object, thus i) expanding the robot workspace to the entire visible space and ii) exploiting the robot redundancy to optimize reaching. We implement our method on a full 48-DOF humanoid robot and provide experimental results in the real world.
AB - We present a novel control architecture for the integration of visually guided walking and whole-body reaching in a humanoid robot.We propose to use robot gaze as a common reference frame for both locomotion and reaching, as suggested by behavioral neuroscience studies in humans. A gaze controller allows the robot to track and fixate a target object, and motor information related to gaze control is then used to i) estimate the reachability of the target, ii) steer locomotion, iii) control whole-body reaching. The reachability is a measure of how well the object can be reached for, depending on the position and posture of the robot with respect to the target, and it is obtained from the gaze motor information using a mapping that has been learned autonomously by the robot through motor experience: we call this mapping Reachable Space Map. In our approach, both locomotion and whole-body movements are seen as ways to maximize the reachability of a visually detected object, thus i) expanding the robot workspace to the entire visible space and ii) exploiting the robot redundancy to optimize reaching. We implement our method on a full 48-DOF humanoid robot and provide experimental results in the real world.
UR - http://www.scopus.com/inward/record.url?scp=84937916114&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84937916114&partnerID=8YFLogxK
U2 - 10.1109/HUMANOIDS.2013.7029951
DO - 10.1109/HUMANOIDS.2013.7029951
M3 - Conference contribution
AN - SCOPUS:84937916114
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 28
EP - 33
BT - 2013 13th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2013
PB - IEEE Computer Society
Y2 - 15 October 2013 through 17 October 2013
ER -