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Adaptive sensorimotor peripersonal space representation and motor learning for a humanoid robot

Related publications (126)

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Combining Dynamical Systems Control and Programming by Demonstration for Teaching Discrete Bimanual Coordination Tasks to a Humanoid Robot

Aude Billard, Elena Gribovskaya

We present a generic framework that combines Dynamical Systems movement control with Programming by Demon- stration (PbD) to teach a robot bimanual coordination task. The model consists of two systems: a learning system that processes data collected during ...

2008

Survey: Robot Programming by Demonstration

Aude Billard, Sylvain Calinon

Robot PbD started about 30 years ago, growing importantly during the past decade. The rationale for moving from purely preprogrammed robots to very flexible user-based interfaces for training the robot to perform a task is three-fold. First and foremost, P ...

Springrer2008

Brain-Controlled Robots

José del Rocio Millán Ruiz

The idea of moving robots or prosthetic devices not by manual control, but by mere thinking (i.e., the brain activity of human subjects) has fascinated researchers for the last 30 years, but it is only now that first experiments have shown the possibility ...

2008

A framework integrating statistical and social cues to teach a humanoid robot new skills

Aude Billard, Sylvain Calinon

Bringing robots as collaborative partners into homes presents various challenges to human-robot interaction. Robots will need to interact with untrained users in environments that are originally designed for humans. Compared to their industrial homologous ...

2008

Enactive Robot Vision

Dario Floreano, Mototaka Suzuki

Enactivism claims that sensory-motor activity and embodiment are crucial in perceiving the environment and that machine vision could be a much simpler business if considered in this context. However, computational models of enactive vision are very rare an ...

2008

Online learning of the body schema

Aude Billard, Eric Sauser, Micha Hersch

We present an algorithm enabling a humanoid robot to visually learn its body schema, knowing only the number of degrees of freedom in each limb. By “body schema” we mean the joint positions and orientations and thus the kinematic function. The learning is ...

2008

Parallel robotics, from research to industry

Reymond Clavel, Mohamed Bouri

New trends and impact of parallel robotics and machinery in industry. ...

2008

Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

Auke Ijspeert, Ludovic Righetti, Sarah Dégallier Rochat

Locomotion on an irregular surface is a challenging task in robotics. Among different problems to solve to obtain robust locomotion, visually guided locomotion and accurate foot placement are of crucial importance. Robust controllers able to adapt to senso ...

2007

Enactive robot vision

Mototaka Suzuki

The complexity of today's autonomous robots poses a major challenge for Artificial Intelligence. These robots are equipped with sophisticated sensors and mechanical abilities that allow them to enter our homes and interact with humans. For example, today's ...

EPFL2007

Dynamics systems vs. optimal control a unifying view

Auke Ijspeert

In the past, computational motor control has been approached from at least two major frameworks: the dynamic systems approach and the viewpoint of optimal control. The dynamic system approach emphasizes motor control as a process of self-organization betwe ...

2007