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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

  • Czech description

Classification

  • Type

    J<sub>imp</sub> - 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)

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