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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

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

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

2023

Kód důvěrnosti údajů

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

Název periodika

IEEE Transactions on Cognitive and Developmental Systems

ISSN

2379-8920

e-ISSN

2379-8939

Svazek periodika

15

Číslo periodika v rámci svazku

2

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

15

Strana od-do

419-433

Kód UT WoS článku

001005746000010

EID výsledku v databázi Scopus

2-s2.0-85113271684