Goal-directed tactile exploration for body model learning through self-touch on a humanoid robot

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F23%3A00352659" target="_blank" >RIV/68407700:21230/23:00352659 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1109/TCDS.2021.3104881" target="_blank" >https://doi.org/10.1109/TCDS.2021.3104881</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/TCDS.2021.3104881" target="_blank" >10.1109/TCDS.2021.3104881</a>

Result language

angličtina

Original language name

Goal-directed tactile exploration for body model learning through self-touch on a humanoid robot

Original language description

An early integration of tactile sensing into motor coordination is the norm in animals, but still a challenge for robots. Tactile exploration through touches on the body gives rise to first body models and bootstraps further development such as reaching competence. Reaching to one’s own body requires connections of the tactile and motor space only. Still, the problems of high dimensionality and motor redundancy persist. Through an embodied computational model for the learning of self-touch on a simulated humanoid robot with artificial sensitive skin, we demonstrate that this task can be achieved (i) effectively and (ii) efficiently at scale by employing the computational frameworks for the learning of internal models for reaching: intrinsic motivation and goal babbling. We relate our results to infant studies on spontaneous body exploration as well as reaching to vibrotactile targets on the body. We analyze the reaching configurations of one infant followed weekly between 4 and 18 months of age and derive further requirements for the computational model: accounting for (iii) continuous rather than sporadic touch and (iv) consistent redundancy resolution. Results show the general success of the learning models in the touch domain, but also point out limitations in achieving fully continuous touch.

Czech name

—

Czech description

—

Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

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)

Publication year

2023

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

IEEE Transactions on Cognitive and Developmental Systems

ISSN

2379-8920

e-ISSN

2379-8939

Volume of the periodical

15

Issue of the periodical within the volume

2

Country of publishing house

US - UNITED STATES

Number of pages

15

Pages from-to

419-433

UT code for WoS article

001005746000010

EID of the result in the Scopus database

2-s2.0-85113271684