A hierarchical system for a distributed representation of the peripersonal space of a humanoid robot

Antonelli, Marco and Gibaldi, Agostino and Beuth, Frederik and Duran, Angel J. and Canessa, Andrea and Chessa, Manuela and Solari, Fabio and Del Pobil, Angel P. and Hamker, Fred and Chinellato, Eris and Sabatini, Silvio P. (2014) A hierarchical system for a distributed representation of the peripersonal space of a humanoid robot. IEEE Transactions on Autonomous Mental Development, 6 (4). pp. 259-273. ISSN 1943-0604

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Abstract

Reaching a target object in an unknown and unstructured environment is easily performed by human beings. However, designing a humanoid robot that executes the same task requires the implementation of complex abilities, such as identifying the target in the visual field, estimating its spatial location, and precisely driving the motors of the arm to reach it. While research usually tackles the development of such abilities singularly, in this work we integrate a number of computational models into a unified framework, and demonstrate in a humanoid torso the feasibility of an integrated working representation of its peripersonal space. To achieve this goal, we propose a cognitive architecture that connects several models inspired by neural circuits of the visual, frontal and posterior parietal cortices of the brain. The outcome of the integration process is a system that allows the robot to create its internal model and its representation of the surrounding space by interacting with the environment directly, through a mutual adaptation of perception and action. The robot is eventually capable of executing a set of tasks, such as recognizing, gazing and reaching target objects, which can work separately or cooperate for supporting more structured and effective behaviors.

Item Type: Article
Additional Information: Date of publication June 26, 2014
Research Areas: A. > School of Science and Technology > Design Engineering and Mathematics
Item ID: 19782
Notes on copyright: © 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
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Depositing User: Eris Chinellato
Date Deposited: 10 May 2016 11:00
Last Modified: 07 Sep 2018 04:32
URI: http://eprints.mdx.ac.uk/id/eprint/19782

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