Learning from sensory predictions for autonomous and adaptive exploration of object shape with a tactile robot

Humans use information from sensory predictions, together with current observations, for the optimal exploration and recognition of their surrounding environment. In this work, two novel adaptive perception strategies are proposed for accurate and fast exploration of object shape with a robotic tactile sensor. These strategies called (1) adaptive weighted prior and (2) adaptive weighted posterior, combine tactile sensory predictions and current sensor observations to autonomously adapt the accuracy and speed of active Bayesian perception in object exploration tasks. Sensory predictions, obtained from a forward model, use a novel Predicted Information Gain method. These predictions are used by the tactile robot to analyse ‘what would have happened’ if certain decisions ‘would have been made’ at previous decision times. The accuracy of predictions is evaluated and controlled by a confidence parameter, to ensure that the adaptive perception strategies rely more on predictions when they are accurate, and more on current sensory observations otherwise. This work is systematically validated with the recognition of angle and position data extracted from the exploration of object shape, using a biomimetic tactile sensor and a robotic platform. The exploration task implements the contour following procedure used by humans to extract object shape with the sense of touch. The validation process is performed with the adaptive weighted strategies and active perception alone. The adaptive approach achieved higher angle accuracy (2.8 deg) over active perception (5 deg). The position accuracy was similar for all perception methods (0.18 mm). The reaction time or number of tactile contacts, needed by the tactile robot to make a decision, was improved by the adaptive perception (1 tap) over active perception (5 taps). The results show that the adaptive perception strategies can enable future robots to adapt their performance, while improving the trade-off between accuracy and reaction time, for tactile exploration, interaction and recognition tasks

Edge and plane classification with a biomimetic iCub fingertip sensor

The exploration and interaction of humanoid robots with the environment through tactile sensing is an important task for achieving truly autonomous agents. Recently much research has been focused on the development of new technologies for tactile sensors and new methods for tactile exploration. Edge detection is one of the tasks required in robots and humanoids to explore and recognise objects. In this work we propose a method for edge and plane classification with a biomimetic iCub fingertip using a probabilistic approach. The iCub fingertip mounted on an xy-table robot is able to tap and collect the data from the surface and edge of a plastic wall. Using a maximum likelihood classifier the xy-table knows when the iCub fingertip has reached the edge of the object. The study presented here is also biologically inspired by the tactile exploration performed in animals

Simultaneous localisation and mapping on a multi-degree of freedom biomimetic whiskered robot

A biomimetic mobile robot called “Shrewbot” has been built as part of a neuroethological study of the mammalian facial whisker sensory system. This platform has been used to further evaluate the problem space of whisker based tactile Simultaneous Localisation And Mapping (tSLAM). Shrewbot uses a biomorphic 3-dimensional array of active whiskers and a model of action selection based on tactile sensory attention to explore a circular walled arena sparsely populated with simple geometric shapes. Datasets taken during this exploration have been used to parameterise an approach to localisation and mapping based on probabilistic occupancy grids. We present the results of this work and conclude that simultaneous localisation and mapping is possible given only noisy odometry and tactile information from a 3-dimensional array of active biomimetic whiskers and no prior information of features in the environment

Memory and mental time travel in humans and social robots.

From neuroscience, brain imaging and the psychology of memory, we are beginning to assemble an integrated theory of the brain subsystems and pathways that allow the compression, storage and reconstruction of memories for past events and their use in contextualizing the present and reasoning about the future-mental time travel (MTT). Using computational models, embedded in humanoid robots, we are seeking to test the sufficiency of this theoretical account and to evaluate the usefulness of brain-inspired memory systems for social robots. In this contribution, we describe the use of machine learning techniques-Gaussian process latent variable models-to build a multimodal memory system for the iCub humanoid robot and summarize results of the deployment of this system for human-robot interaction. We also outline the further steps required to create a more complete robotic implementation of human-like autobiographical memory and MTT. We propose that generative memory models, such as those that form the core of our robot memory system, can provide a solution to the symbol grounding problem in embodied artificial intelligence. This article is part of the theme issue 'From social brains to social robots: applying neurocognitive insights to human-robot interaction'.Funding. The preparation of this chapter was supported by funding from the EU Seventh Framework Programme as part of the projects Experimental Functional Android Assistant (EFAA, FP7-ICT-270490) and What You Say Is What You Did (WYSIWYD, FP7-ICT-612139) and by the EU H2020 Programme as part of the Human Brain Project (HBP-SGA1, 720270; HBP-SGA2, 785907). Acknowledgements. The authors are grateful to Paul Verschure, Peter Dominey, Giorgio Metta, Yiannis Demiris and the other members of the WYSIWYD and EFAA consortia; to members of the HBP EPISENSE group; and to our colleagues at the University of Sheffield who have helped us to develop memory systems for the iCub, particularly Luke Boorman, Harry Jackson and Matthew Evans. The Sheffield iCub was purchased with the support of the UK Engineering and Physical Sciences Research Council (EPSRC)

The effect of whisker movement on radial distanceestimation: A case study in comparative robotics

Whisker movement has been shown to be under active control in certain specialistanimals such as rats and mice. Though this whisker movement is well characterized,the role and effect of this movement on subsequent sensing is poorly understood. Onemethod for investigating this phenomena is to generate artificial whisker deflections withrobotic hardware under different movement conditions. A limitation of this approachis that assumptions must be made in the design of any artificial whisker actuators,which will impose certain restrictions on the whisker-object interaction. In this paperwe present three robotic whisker platforms, each with different mechanical whiskerproperties and actuation mechanisms. A feature-based classifier is used to simultaneouslydiscriminate radial distance to contact and contact speed for the first time. We showthat whisker-object contact speed predictably affects deflection magnitudes, invariantof whisker material or whisker movement trajectory. We propose that rodent whiskercontrol allows the animal to improve sensing accuracy by regulating contact speed inducedtouch-to-touch variability

BRAHMS: Novel middleware for integrated systems computation

Biological computational modellers are becoming increasingly interested in building large, eclectic models, including components on many different computational substrates, both biological and non-biological. At the same time, the rise of the philosophy of embodied modelling is generating a need to deploy biological models as controllers for robots in real-world environments. Finally, robotics engineers are beginning to find value in seconding biomimetic control strategies for use on practical robots. Together with the ubiquitous desire to make good on past software development effort, these trends are throwing up new challenges of intellectual and technological integration (for example across scales, across disciplines, and even across time) - challenges that are unmet by existing software frameworks. Here, we outline these challenges in detail, and go on to describe a newly developed software framework, BRAHMS. that meets them. BRAHMS is a tool for integrating computational process modules into a viable, computable system: its generality and flexibility facilitate integration across barriers, such as those described above, in a coherent and effective way. We go on to describe several cases where BRAHMS has been successfully deployed in practical situations. We also show excellent performance in comparison with a monolithic development approach. Additional benefits of developing in the framework include source code self-documentation, automatic coarse-grained parallelisation, cross-language integration, data logging, performance monitoring, and will include dynamic load-balancing and 'pause and continue' execution. BRAHMS is built on the nascent, and similarly general purpose, model markup language, SystemML. This will, in future, also facilitate repeatability and accountability (same answers ten years from now), transparent automatic software distribution, and interfacing with other SystemML tools. (C) 2009 Elsevier Ltd. All rights reserved

A robot trace maker: modeling the fossil evidence of early invertebrate behavior.

The study of trace fossils, the fossilized remains of animal behavior, reveals interesting parallels with recent research in behavior-based robotics. This article reports robot simulations of the meandering foraging trails left by early invertebrates that demonstrate that such trails can be generated by mechanisms similar to those used for robot wall-following. We conclude with the suggestion that the capacity for intelligent behavior shown by many behavior-based robots is similar to that of animals of the late Precambrian and early Cambrian periods approximately 530 to 565 million years ago

Generation of competent bone marrow-derived antigen presenting cells from the deer mouse (Peromyscus maniculatus)

BACKGROUND: Human infections with Sin Nombre virus (SNV) and related New World hantaviruses often lead to hantavirus cardiopulmonary syndrome (HCPS), a sometimes fatal illness. Lungs of patients who die from HCPS exhibit cytokine-producing mononuclear infiltrates and pronounced pulmonary inflammation. Deer mice (Peromyscus maniculatus) are the principal natural hosts of SNV, in which the virus establishes life-long persistence without conspicuous pathology. Little is known about the mechanisms SNV employs to evade the immune response of deer mice, and experimental examination of this question has been difficult because of a lack of methodologies for examining such responses during infection. One such deficiency is our inability to characterize T cell responses because susceptible syngeneic deer mice are not available. RESULTS: To solve this problem, we have developed an in vitro method of expanding and generating competent antigen presenting cells (APC) from deer mouse bone marrow using commercially-available house mouse (Mus musculus) granulocyte-macrophage colony stimulating factor. These cells are capable of processing and presenting soluble protein to antigen-specific autologous helper T cells in vitro. Inclusion of antigen-specific deer mouse antibody augments T cell stimulation, presumably through Fc receptor-mediated endocytosis. CONCLUSIONS: The use of these APC has allowed us to dramatically expand deer mouse helper T cells in culture and should permit extensive characterization of T cell epitopes. Considering the evolutionary divergence between deer mice and house mice, it is probable that this method will be useful to other investigators using unconventional models of rodent-borne diseases

Modeling the Emergence of Whisker Direction Maps in Rat Barrel Cortex

Based on measuring responses to rat whiskers as they are mechanically stimulated, one recent study suggests that barrel-related areas in layer 2/3 rat primary somatosensory cortex (S1) contain a pinwheel map of whisker motion directions. Because this map is reminiscent of topographic organization for visual direction in primary visual cortex (V1) of higher mammals, we asked whether the S1 pinwheels could be explained by an input-driven developmental process as is often suggested for V1. We developed a computational model to capture how whisker stimuli are conveyed to supragranular S1, and simulate lateral cortical interactions using an established self-organizing algorithm. Inputs to the model each represent the deflection of a subset of 25 whiskers as they are contacted by a moving stimulus object. The subset of deflected whiskers corresponds with the shape of the stimulus, and the deflection direction corresponds with the movement direction of the stimulus. If these two features of the inputs are correlated during the training of the model, a somatotopically aligned map of direction emerges for each whisker in S1. Predictions of the model that are immediately testable include (1) that somatotopic pinwheel maps of whisker direction exist in adult layer 2/3 barrel cortex for every large whisker on the rat's face, even peripheral whiskers; and (2) in the adult, neurons with similar directional tuning are interconnected by a network of horizontal connections, spanning distances of many whisker representations. We also propose specific experiments for testing the predictions of the model by manipulating patterns of whisker inputs experienced during early development. The results suggest that similar intracortical mechanisms guide the development of primate V1 and rat S1