Sensory Integration with Articulated Motion on a Humanoid Robot
This paper describes the integration of articulated motion with auditory and visual sensory information that enables a humanoid robot to achieve certain reflex actions that mimic those of people. Reflexes such as reach-and-grasp behavior enables the robot to learn, through experience, its own state...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2005-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1533/abbi.2004.0057 |
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| Summary: | This paper describes the integration of articulated motion with auditory and visual sensory information that enables a humanoid robot to achieve certain reflex actions that mimic those of people. Reflexes such as reach-and-grasp behavior enables the robot to learn, through experience, its own state and that of the world. A humanoid robot with binaural audio input, stereo vision, and pneumatic arms and hands exhibited tightly coupled sensory-motor behaviors in four different demonstrations. The complexity of successive demonstrations was increased to show that the reflexive sensory-motor behaviors combine to perform increasingly complex tasks. The humanoid robot executed these tasks effectively and established the groundwork for the further development of hardware and software systems, sensory-motor vector-space representations, and coupling with higher-level cognition. |
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| ISSN: | 1176-2322 1754-2103 |