Goal-directed tactile exploration for body model learning through self-touch on 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%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>
Alternative languages
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
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
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
2023
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
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