Sensory integration with articulated motion on a humanoid robot.
Juan Rojas. Richard Alan Peters II
Abstract:
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.
Resources
- Middleware: IMA 2.5 including code using in papers.
https://github.com/rojas70/ima_2_5.git - IMA 2.5 Reference Page:
http://eecs.vanderbilt.edu/CIS/CRL/IMA2_5.shtml
Media
- Outside China — YouTube Video
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