A connectionist model of associating proprioceptive and tactile modalities in a humanoid robot
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00362310" target="_blank" >RIV/68407700:21230/22:00362310 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ICDL53763.2022.9962195" target="_blank" >https://doi.org/10.1109/ICDL53763.2022.9962195</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICDL53763.2022.9962195" target="_blank" >10.1109/ICDL53763.2022.9962195</a>
Alternative languages
Result language
angličtina
Original language name
A connectionist model of associating proprioceptive and tactile modalities in a humanoid robot
Original language description
Postnatal development in infants involves building the body schema based on integrating information from different modalities. An early phase of this complex process involves coupling proprioceptive inputs with tactile information during self-touch enabled by motor babbling. Such functionality is also desirable in humanoid robots that can serve as embodied instantiation of cognitive learning. We describe a simple connectionist model composed of neural networks that learns the proprioceptive-tactile representations on a simulated iCub humanoid robot. Input signals from both modalities – joint angles and touch stimuli on both upper limbs – are first self-organized in neural maps and then connected using a universal bidirectional associative network (UBAL). The model demonstrates the ability to predict touch and its location from proprioceptive information with relatively high accuracy. We also discuss limitations of the model and the ideas for future work.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/GX20-24186X" target="_blank" >GX20-24186X: Whole-body awareness for safe and natural interaction: from brains to collaborative robots</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2022 IEEE International Conference on Development and Learning (ICDL)
ISBN
978-1-6654-1311-4
ISSN
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e-ISSN
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Number of pages
7
Pages from-to
336-342
Publisher name
IEEE
Place of publication
Piscataway
Event location
London
Event date
Sep 12, 2022
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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