Robot hand discovery based on visuomotor coherence

摘要：

This paper proposes a plausible approach for a robot to discover its own body based on the coherence of two different sensory feedbacks; vision and proprioception. The image cues of a moving region are stored in an image base with a visuo proprioceptional coherence label. The existence of coherence between the vision and proprioception suggests that the visually detected object is correlated to its own motor functions. By making the image base autonomously, a humanoid robot discovers its own hand without any knowledge of the hand appearances such as predened visual marker. Also, the robot keeps tracking the hand with distinguishing it from other objects. All modules of visual and proprioceptional processing are distributed in the networks, which allow online perception and interaction.

作者: Ryo Saegusa Giorgio Metta Giulio Sandini

作者单位: Robotics,Brain and Cognitive Sciences Dept.,Italian Institute of Technology,Via Morego 30,16163 Geno Faculty of LIRA-lab,University of Genoa,Viale Causa 13,16145 Genova,Italy,and Robotics,Brain and Cog

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1732-1737

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）