Sökning: onr:"swepub:oai:DiVA.org:umu-12667" >
A Bio-inspired Neur...
A Bio-inspired Neural Sensory-Motor Coordination Scheme for Robot Reaching and Preshaping
-
Laschi, Cecilia (författare)
-
Asuni, Gioel (författare)
-
Teti, Giancarlo (författare)
-
visa fler...
-
Carrozza, Maria Chiara (författare)
-
Dario, Paolo (författare)
-
Guglielmelli, Eugenio (författare)
-
- Johansson, Roland S (författare)
- Umeå universitet,Fysiologi
-
visa färre...
-
(creator_code:org_t)
- Piscataway, NJ : IEEE, 2006
- 2006
- Engelska.
-
Ingår i: Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics : BioRob 2006. - Piscataway, NJ : IEEE. - 1424400406 ; , s. 531-536
- Relaterad länk:
-
https://urn.kb.se/re...
-
visa fler...
-
https://doi.org/10.1...
-
visa färre...
Abstract
Ämnesord
Stäng
- 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.
Publikations- och innehållstyp
- vet (ämneskategori)
- kon (ämneskategori)
Hitta via bibliotek
Till lärosätets databas