TY - GEN
T1 - Learning the reachable space of a humanoid robot
T2 - 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
AU - Jamone, Lorenzo
AU - Natale, Lorenzo
AU - Hashimoto, Kenji
AU - Sandini, Giulio
AU - Takanishi, Atsuo
PY - 2012/10/18
Y1 - 2012/10/18
N2 - In this paper we describe how a humanoid robot can learn a representation of its own reachable space from motor experience: a Reachable Space Map. The map provides information about the reachability of a visually detected object (i.e. a 3D point in space). We propose a bio-inspired solution in which the map is built in a gaze-centered reference frame: the position of a point in space is encoded with the motor configuration of the robot head and eyes which allows the fixation of that point. We provide experimental results in which a simulated humanoid robot learns this map autonomously and we discuss how the map can be used for planning whole-body and bimanual reaching.
AB - In this paper we describe how a humanoid robot can learn a representation of its own reachable space from motor experience: a Reachable Space Map. The map provides information about the reachability of a visually detected object (i.e. a 3D point in space). We propose a bio-inspired solution in which the map is built in a gaze-centered reference frame: the position of a point in space is encoded with the motor configuration of the robot head and eyes which allows the fixation of that point. We provide experimental results in which a simulated humanoid robot learns this map autonomously and we discuss how the map can be used for planning whole-body and bimanual reaching.
UR - http://www.scopus.com/inward/record.url?scp=84867423910&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84867423910&partnerID=8YFLogxK
U2 - 10.1109/BioRob.2012.6290729
DO - 10.1109/BioRob.2012.6290729
M3 - Conference contribution
AN - SCOPUS:84867423910
SN - 9781457711992
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 1148
EP - 1154
BT - 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Y2 - 24 June 2012 through 27 June 2012
ER -