Online learning of a motor map for humanoid robot reaching

Gaskett, Chris, and Cheng, Gordon (2003) Online learning of a motor map for humanoid robot reaching. In: Proceedings of the international conference on computational intelligence, robotics and autonomous systems. From: 2nd international conference on computational intelligence, robotics and autonomous systems, Singapore.

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Abstract

We propose a control system for humanoid robot reaching using a motor-motor mapping that is learnt online. The system combines endpoint closed-loop and open-loop visual servo control. The closed-loop component moves the eyes, head, arm, and torso, based on the position of the target and the robot’s hand, as seen by the robot’s head mounted cameras. The learned, open-loop component brings the hand into view.

Item ID: 628
Item Type: Conference Item (Refereed Research Paper - E1)
Keywords: Robotics, Humanoid, Reaching, Self-organising map
Date Deposited: 04 Oct 2006
FoR Codes: 08 INFORMATION AND COMPUTING SCIENCES > 0801 Artificial Intelligence and Image Processing > 080108 Neural, Evolutionary and Fuzzy Computation @ 0%
08 INFORMATION AND COMPUTING SCIENCES > 0801 Artificial Intelligence and Image Processing > 080101 Adaptive Agents and Intelligent Robotics @ 0%
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