Expected perception: an anticipation-based perception-action scheme in robots

Datteri, Edoardo; Teti, Gabriella; Laschi, Cecilia; Tamburrini, Guglielmo; Dario, G.; Guglielmelli, Eugenio

doi:10.1109/iros.2003.1250748

Cited by 28 publications

(23 citation statements)

References 16 publications

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“…The testing of multiple robots allows verifying the adaptability of the proposed system to different robotic platforms, 1 The inverse Rodrigues formula provides a closed form solution to the Lie logarithm function on the rotation Lie group. in particular having different schema and numbers of joints.…”

Section: Resultsmentioning

confidence: 99%

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Online calibration of a humanoid robot head from relative encoders, IMU readings and visual data

Moutinho

Brandão

Ferreira

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Humanoid robots are complex sensorimotor systems where the existence of internal models are of utmost importance both for control purposes and for predicting the changes in the world arising from the system's own actions. This so-called expected perception relies on the existence of accurate internal models of the robot's sensorimotor chains.We assume that the kinematic model is known in advance but that the absolute offsets of the different axes cannot be directly retrieved from encoders. We propose a method to estimate such parameters, the zero position of the joints of a humanoid robotic head, by relying on proprioceptive sensors such as relative encoders and inertial sensing as well as visual input.We show that our method can estimate the correct offsets of the different joints (i.e. absolute positioning) in a continuous, online manner. Not only the method is robust to noise but it can as well cope with and adjust to abrupt changes in the parameters. Experiments with three different robotic heads are presented and illustrate the performance of the methodology as well as the advantages of using such an approach.

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Section: Resultsmentioning

confidence: 99%

“…Perception can thus contrast predicted signals with actually observed measurements. This mechanism of expected perception is believed to be used routinely by humans when addressing a variety of tasks including locomotion, grasping, manipulation, etc [1], [2], [3].…”

Section: Introductionmentioning

confidence: 99%

Online calibration of a humanoid robot head from relative encoders, IMU readings and visual data

Moutinho

Brandão

Ferreira

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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show abstract

“…Although the examples are much simpler compared to that of human beings, ''expected perception'' of single robots is discussed by Datteri et al (2003) Recently the world's top chess masters and Japan's best Shogi 1 masters have been defeated by computers. However, the conditions of these victories are much simpler than the degree of complexity and the dynamic nature of the actual world.…”

Section: Mental Human-likeness: Communication-based Supportmentioning

confidence: 99%

From an engineers point of view: response to “Social interaction with robots—three questions”. In Gesa Lindemann (this volume)

Takanishi

2015

AI & Soc

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“…Furthermore, it is possible to fuse the outputs of direct and indirect fusion. In literature, different models for such hybrid systems have been described: [2], [4], [7], [10], [26].…”

Section: State Of the Artmentioning

confidence: 99%

Emulating the Perceptual System of the Brain for the Purpose of Sensor Fusion

Velik

Lang

Bruckner

et al. 2009

Human-Computer Systems Interaction

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-This work presents a bionic model derived from research findings about the perceptual system of the human brain to build next generation intelligent sensor fusion systems. Therefore, a new information processing principle called neuro-symbolic information processing is introduced. According to this method, sensory data are processed by so-called neuro-symbolic networks. The basic processing units of neuro-symbolic networks are neurosymbols. Correlations between neuro-symbols of a neurosymbolic network can be learned from examples. Perception is based on sensor data as well as on interaction with cognitive processes like focus of attention, memory, and knowledge. Additionally, a mechanism for evaluating perception by emotions is suggested.

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Expected perception: an anticipation-based perception-action scheme in robots

Cited by 28 publications

References 16 publications

Online calibration of a humanoid robot head from relative encoders, IMU readings and visual data

Online calibration of a humanoid robot head from relative encoders, IMU readings and visual data

From an engineers point of view: response to “Social interaction with robots—three questions”. In Gesa Lindemann (this volume)

Emulating the Perceptual System of the Brain for the Purpose of Sensor Fusion

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