Autonomous learning of 3D reaching in a humanoid robot

In this paper, we describe the implementation of a precise reaching controller on an upper-torso humanoid robot. The solution we propose does not rely on prior models of the kinematic structure of either the arm or the head. A learning strategy enables the robot to acquire the required sensory-motor...

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Bibliographic Details
Published in2007 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 1142 - 1147
Main Authors Nori, F., Natale, L., Sandini, G., Metta, G.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2007
Subjects
Calibration
humanoid robotics
Humanoid robots
Intelligent robots
Jacobian
Jacobian matrices
Kinematics
Orbital robotics
reaching learning
Robot sensing systems
Robot vision systems
USA Councils
Visual servoing
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ISBN9781424409112
142440911X
ISSN2153-0858
DOI10.1109/IROS.2007.4399467

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Summary:In this paper, we describe the implementation of a precise reaching controller on an upper-torso humanoid robot. The solution we propose does not rely on prior models of the kinematic structure of either the arm or the head. A learning strategy enables the robot to acquire the required sensory-motor transformations. After learning the robot is able to precisely reach for a visually identified object in the 3-dimensional space. In this technique we use the fixation point (represented in the head joints motor space) as a reference frame to code the position of the object and to represent the eye-to-hand Jacobian matrix. This strategy successfully deals with the kinematic redundancy of the structure and constraints the dimensionality of the problem.
ISBN:9781424409112
142440911X
ISSN:2153-0858
DOI:10.1109/IROS.2007.4399467