20 research outputs found
Sensorimotor representation learning for an "active self" in robots: A model survey
Safe human-robot interactions require robots to be able to learn how to
behave appropriately in \sout{humans' world} \rev{spaces populated by people}
and thus to cope with the challenges posed by our dynamic and unstructured
environment, rather than being provided a rigid set of rules for operations. In
humans, these capabilities are thought to be related to our ability to perceive
our body in space, sensing the location of our limbs during movement, being
aware of other objects and agents, and controlling our body parts to interact
with them intentionally. Toward the next generation of robots with bio-inspired
capacities, in this paper, we first review the developmental processes of
underlying mechanisms of these abilities: The sensory representations of body
schema, peripersonal space, and the active self in humans. Second, we provide a
survey of robotics models of these sensory representations and robotics models
of the self; and we compare these models with the human counterparts. Finally,
we analyse what is missing from these robotics models and propose a theoretical
computational framework, which aims to allow the emergence of the sense of self
in artificial agents by developing sensory representations through
self-exploration
Sensorimotor Representation Learning for an “Active Self” in Robots: A Model Survey
Safe human-robot interactions require robots to be able to learn how to behave appropriately in spaces populated by people and thus to cope with the challenges posed by our dynamic and unstructured environment, rather than being provided a rigid set of rules for operations. In humans, these capabilities are thought to be related to our ability to perceive our body in space, sensing the location of our limbs during movement, being aware of other objects and agents, and controlling our body parts to interact with them intentionally. Toward the next generation of robots with bio-inspired capacities, in this paper, we first review the developmental processes of underlying mechanisms of these abilities: The sensory representations of body schema, peripersonal space, and the active self in humans. Second, we provide a survey of robotics models of these sensory representations and robotics models of the self; and we compare these models with the human counterparts. Finally, we analyze what is missing from these robotics models and propose a theoretical computational framework, which aims to allow the emergence of the sense of self in artificial agents by developing sensory representations through self-exploration.Deutsche Forschungsgemeinschaft
http://dx.doi.org/10.13039/501100001659Deutsche Forschungsgemeinschaft
http://dx.doi.org/10.13039/501100001659Deutsche Forschungsgemeinschaft
http://dx.doi.org/10.13039/501100001659Deutsche Forschungsgemeinschaft
http://dx.doi.org/10.13039/501100001659Deutsche Forschungsgemeinschaft
http://dx.doi.org/10.13039/501100001659Deutsche Forschungsgemeinschaft
http://dx.doi.org/10.13039/501100001659Projekt DEALPeer Reviewe
Vocal Imitation in Sensorimotor Learning Models: a Comparative Review
International audienceSensorimotor learning represents a challenging problem for natural and artificial systems. Several computational models have been proposed to explain the neural and cognitive mechanisms at play in the brain. In general, these models can be decomposed in three common components: a sensory system, a motor control device and a learning framework. The latter includes the architecture, the learning rule or optimisation method, and the exploration strategy used to guide learning. In this review, we focus on imitative vocal learning, that is exemplified in song learning in birds and speech acquisition in humans. We aim to synthesise, analyse and compare the various models of vocal learning that have been proposed, highlighting their common points and differences. We first introduce the biological context, including the behavioural and physiological hallmarks of vocal learning and sketch the neural circuits involved. Then, we detail the different components of a vocal learning model and how they are implemented in the reviewed models
Peripersonal Space in the Humanoid Robot iCub
Developing behaviours for interaction with objects close to the body is a primary goal for any organism to survive in the world. Being able to develop such behaviours will be an essential feature in autonomous humanoid robots in order to improve their integration into human environments. Adaptable spatial abilities will make robots safer and improve their social skills, human-robot and robot-robot collaboration abilities.
This work investigated how a humanoid robot can explore and create action-based representations of its peripersonal space, the region immediately surrounding the body where reaching is possible without location displacement. It presents three empirical studies based on peripersonal space findings from psychology, neuroscience and robotics. The experiments used a visual perception system based on active-vision and biologically inspired neural networks.
The first study investigated the contribution of binocular vision in a reaching task. Results indicated the signal from vergence is a useful embodied depth estimation cue in the peripersonal space in humanoid robots. The second study explored the influence of morphology and postural experience on confidence levels in reaching assessment. Results showed that a decrease of confidence when assessing targets located farther from the body, possibly in accordance to errors in depth estimation from vergence for longer distances. Additionally, it was found that a proprioceptive arm-length signal extends the robot’s peripersonal space. The last experiment modelled development of the reaching skill by implementing motor synergies that progressively unlock degrees of freedom in the arm. The model was advantageous when compared to one that included no developmental stages.
The contribution to knowledge of this work is extending the research on biologically-inspired methods for building robots, presenting new ways to further investigate the robotic properties involved in the dynamical adaptation to body and sensing characteristics, vision-based action, morphology and confidence levels in reaching assessment.CONACyT, Mexico (National Council of Science and Technology
Computational intelligence approaches to robotics, automation, and control [Volume guest editors]
No abstract available
Computational intelligence approaches to robotics, automation, and control [Volume guest editors]
No abstract available