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- Laschi, C, et al.
(author)
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A bio-inspired predictive sensory-motor coordination scheme for robot reaching and preshaping
- 2008
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In: Autonomous Robots. - Boston : Kluwer Academic Publishers. - 0929-5593 .- 1573-7527. ; 25:1-2, s. 85-101
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Journal article (peer-reviewed)abstract
- 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.
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