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IROS
2007
IEEE

Autonomous learning of 3D reaching in a humanoid robot

12 years 1 months ago
Autonomous learning of 3D reaching in a humanoid robot
— In this paper, we describe the implementation of a precise reaching controller on an upper-torso humanoid robot. The solution we propose does not rely on prior models of the kinematic structure of either the arm or the head. A learning strategy enables the robot to acquire the required sensory-motor transformations. After learning the robot is able to precisely reach for a visually identified object in the 3-dimensional space. In this technique we use the fixation point (represented in the head joints motor space) as a reference frame to code the position of the object and to represent the eye-to-hand Jacobian matrix. This strategy successfully deals with the kinematic redundancy of the structure and constraints the dimensionality of the problem.
Francesco Nori, Lorenzo Natale, Giulio Sandini, Gi
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where IROS
Authors Francesco Nori, Lorenzo Natale, Giulio Sandini, Giorgio Metta
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