Active exploration for body model learning through self-touch on a humanoid robot with artificial skin

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F20%3A00345979" target="_blank" >RIV/68407700:21230/20:00345979 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/ICDL-EpiRob48136.2020.9278035" target="_blank" >https://doi.org/10.1109/ICDL-EpiRob48136.2020.9278035</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICDL-EpiRob48136.2020.9278035" target="_blank" >10.1109/ICDL-EpiRob48136.2020.9278035</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Active exploration for body model learning through self-touch on a humanoid robot with artificial skin

Popis výsledku v původním jazyce

The mechanisms of infant development are far from understood. Learning about one's own body is likely a foundation for subsequent development. Here we look specifically at the problem of how spontaneous touches to the body in early infancy may give rise to first body models and bootstrap further development such as reaching competence. Unlike visually elicited reaching, reaching to own body requires connections of the tactile and motor space only, bypassing vision. Still, the problems of high dimensionality and redundancy of the motor system persist. In this work, we present an embodied computational model on a simulated humanoid robot with artificial sensitive skin on large areas of its body. The robot should autonomously develop the capacity to reach for every tactile sensor on its body. To do this efficiently, we employ the computational framework of intrinsic motivations and variants of goal babbling-as opposed to motor babbling-that prove to make the exploration process faster and alleviate the ill-posedness of learning inverse kinematics. Based on our results, we discuss the next steps in relation to infant studies: what information will be necessary to further ground this computational model in behavioral data.

Název v anglickém jazyce

Active exploration for body model learning through self-touch on a humanoid robot with artificial skin

Popis výsledku anglicky

The mechanisms of infant development are far from understood. Learning about one's own body is likely a foundation for subsequent development. Here we look specifically at the problem of how spontaneous touches to the body in early infancy may give rise to first body models and bootstrap further development such as reaching competence. Unlike visually elicited reaching, reaching to own body requires connections of the tactile and motor space only, bypassing vision. Still, the problems of high dimensionality and redundancy of the motor system persist. In this work, we present an embodied computational model on a simulated humanoid robot with artificial sensitive skin on large areas of its body. The robot should autonomously develop the capacity to reach for every tactile sensor on its body. To do this efficiently, we employ the computational framework of intrinsic motivations and variants of goal babbling-as opposed to motor babbling-that prove to make the exploration process faster and alleviate the ill-posedness of learning inverse kinematics. Based on our results, we discuss the next steps in relation to infant studies: what information will be necessary to further ground this computational model in behavioral data.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/GX20-24186X" target="_blank" >GX20-24186X: Vědomí celého povrchu těla pro bezpečnou a přirozenou interakci: od mozku ke kolaborativním robotům</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2020

Kód důvěrnosti údajů

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

Název statě ve sborníku

Development and Learning and Epigenetic Robotics (ICDL-EpiRob), 2020 Joint IEEE 10th International Conference on

ISBN

978-1-7281-7306-1

ISSN

2161-9484

e-ISSN

2161-9484

Počet stran výsledku

8

Strana od-do

—

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Valparaíso

Datum konání akce

26. 10. 2020

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—