An infant inspired model of reaching for a humanoid robot

Mark Lee; James Law; Patricia Shaw; Michael Sheldon

doi:10.1109/DevLrn.2012.6400805

An infant inspired model of reaching for a humanoid robot

Mark Lee, James Law, Patricia Shaw, Michael Sheldon

Adran Cyfrifiadureg

Allbwn ymchwil: Cyfraniad at gynhadledd › Papur › adolygiad gan gymheiriaid

5 Dyfyniadau (Scopus)

214 Wedi eu Llwytho i Lawr (Pure)

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Infants demonstrate remarkable talents in learning to control their sensor and motor systems. In particular the ability to reach to objects using visual feedback requires overcoming several issues related to coordination, spatial transformations, redundancy, and complex learning spaces, that are also challenges for robotics.

The development sequence from tabula rasa to early successful reaching includes learning of saccade control, gaze control, torso control, and visually elicited reaching and grasping in 3D space. This sequence is an essential progression in the acquisition of manipulation behaviour.

In this paper we outline the biological and psychological processes behind this sequence, and describe how they can be interpreted to enable cumulative learning of reaching behaviours in robots. Our implementation on an iCub robot produces reaching and manipulation behaviours from scratch in around 2.5 hours. We show snapshots of the learning spaces during this process, and comment on how timing of stage transition impacts on learning.

Iaith wreiddiol	Saesneg
Tudalennau	1-6
Dynodwyr Gwrthrych Digidol (DOIs)	https://doi.org/10.1109/DevLrn.2012.6400805
Statws	Cyhoeddwyd - 01 Tach 2012
Digwyddiad	2012 IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL) - San Diego, CA, USA Hyd: 07 Tach 2012 → 09 Tach 2012

Cynhadledd

Cynhadledd	2012 IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL)
Dinas	San Diego, CA, USA
Cyfnod	07 Tach 2012 → 09 Tach 2012

Mynediad at Ddogfen

10.1109/DevLrn.2012.6400805

LeeLawShawSheldonICDLEpiRob2012Llawysgrif awdur wedi’i dderbyn, 388 KB

http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6400805

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@conference{b7c7a1bc134e4401ac961e4f55e43631,

title = "An infant inspired model of reaching for a humanoid robot",

abstract = "Infants demonstrate remarkable talents in learning to control their sensor and motor systems. In particular the ability to reach to objects using visual feedback requires overcoming several issues related to coordination, spatial transformations, redundancy, and complex learning spaces, that are also challenges for robotics. The development sequence from tabula rasa to early successful reaching includes learning of saccade control, gaze control, torso control, and visually elicited reaching and grasping in 3D space. This sequence is an essential progression in the acquisition of manipulation behaviour. In this paper we outline the biological and psychological processes behind this sequence, and describe how they can be interpreted to enable cumulative learning of reaching behaviours in robots. Our implementation on an iCub robot produces reaching and manipulation behaviours from scratch in around 2.5 hours. We show snapshots of the learning spaces during this process, and comment on how timing of stage transition impacts on learning.",

keywords = "Developmental robotics, Infant development, Humanoid robotics, Visually elicited reaching ",

author = "Mark Lee and James Law and Patricia Shaw and Michael Sheldon",

year = "2012",

month = nov,

day = "1",

doi = "10.1109/DevLrn.2012.6400805",

language = "English",

pages = "1--6",

note = "2012 IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL) ; Conference date: 07-11-2012 Through 09-11-2012",

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TY - CONF

T1 - An infant inspired model of reaching for a humanoid robot

AU - Lee, Mark

AU - Law, James

AU - Shaw, Patricia

AU - Sheldon, Michael

PY - 2012/11/1

Y1 - 2012/11/1

N2 - Infants demonstrate remarkable talents in learning to control their sensor and motor systems. In particular the ability to reach to objects using visual feedback requires overcoming several issues related to coordination, spatial transformations, redundancy, and complex learning spaces, that are also challenges for robotics. The development sequence from tabula rasa to early successful reaching includes learning of saccade control, gaze control, torso control, and visually elicited reaching and grasping in 3D space. This sequence is an essential progression in the acquisition of manipulation behaviour. In this paper we outline the biological and psychological processes behind this sequence, and describe how they can be interpreted to enable cumulative learning of reaching behaviours in robots. Our implementation on an iCub robot produces reaching and manipulation behaviours from scratch in around 2.5 hours. We show snapshots of the learning spaces during this process, and comment on how timing of stage transition impacts on learning.

AB - Infants demonstrate remarkable talents in learning to control their sensor and motor systems. In particular the ability to reach to objects using visual feedback requires overcoming several issues related to coordination, spatial transformations, redundancy, and complex learning spaces, that are also challenges for robotics. The development sequence from tabula rasa to early successful reaching includes learning of saccade control, gaze control, torso control, and visually elicited reaching and grasping in 3D space. This sequence is an essential progression in the acquisition of manipulation behaviour. In this paper we outline the biological and psychological processes behind this sequence, and describe how they can be interpreted to enable cumulative learning of reaching behaviours in robots. Our implementation on an iCub robot produces reaching and manipulation behaviours from scratch in around 2.5 hours. We show snapshots of the learning spaces during this process, and comment on how timing of stage transition impacts on learning.

KW - Developmental robotics

KW - Infant development

KW - Humanoid robotics

KW - Visually elicited reaching

UR - http://www.scopus.com/inward/record.url?scp=84872858591&partnerID=8YFLogxK

U2 - 10.1109/DevLrn.2012.6400805

DO - 10.1109/DevLrn.2012.6400805

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T2 - 2012 IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL)

Y2 - 7 November 2012 through 9 November 2012

ER -

An infant inspired model of reaching for a humanoid robot

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