The capability of autonomously discovering relations between perceptual data and motor actions is crucial for the development of robust adaptive robotic systems intended to operate in an unknown environment. In the ca...
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The capability of autonomously discovering relations between perceptual data and motor actions is crucial for the development of robust adaptive robotic systems intended to operate in an unknown environment. In the case of robotic tactile perception, a proper interaction between contact sensing and motor control is the basic step toward the execution of complex motor procedures such as grasping and manipulation. In this paper the autonomous development of cutaneo-motor coordination is investigated in the case of a robotic finger mounted on a robotic manipulator, for a particular class of micro-movements. A neural network architecture linking changes in the sensed tactile pattern with the motor actions performed is described and experimental results are analyzed. Examples of application of the developed sensory-motor coordination in the generation of motor control procedures for the estimate of surface curvature are considered.
This paper describes a sensor-based robot control method for handling non contact to contacttransitions in partially unknown environment. The proposed approach is based on the integration of proximity and force/torque...
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