Abstract Developmental robotics is an emerging field located at the intersection of developmental... more Abstract Developmental robotics is an emerging field located at the intersection of developmental psychology and robotics, that has lately attracted quite some attention. This paper gives a survey of a variety of research projects dealing with or inspired by developmental issues, and outlines possible future directions.
Abstract This work discusses the design and control approach of a 3 DOF waist joint for the" iCub... more Abstract This work discusses the design and control approach of a 3 DOF waist joint for the" iCub" humanoid robot." iCub" is a child like crawling robot that resembles a 2 and a half year old child. The ultimate goal of this project is to provide the cognition research community with an open human like platform for understanding of cognitive systems through the study of cognitive development. The designs of the mechanisms adopted for the waist joint are discussed.
Abstract--We describe an unsupervised on-line method for learning of manipulative actions that al... more Abstract--We describe an unsupervised on-line method for learning of manipulative actions that allows a robot to push an object connected to it with a rotational point contact to a desired point in image-space. By observing tile results of its actions on tile object's orientation in imagespace, the system forms a predictive forward empirical model. This acquired model is used on-line for manipulation planning and control as it improves.
Abstract The recent trend of humanoid robotics research has been deeply influenced by concepts su... more Abstract The recent trend of humanoid robotics research has been deeply influenced by concepts such as embodiment, embodied interaction and emergence. In our view, these concepts, beside shaping the controlling intelligence, should guide the very design process of the modern humanoid robotic platforms. In this paper, we discuss how these principles have been applied to the design of a humanoid robot called James.
Abstract Visual motion is a simple yet powerful cue widely used by biological systems to improve ... more Abstract Visual motion is a simple yet powerful cue widely used by biological systems to improve their perception and adaptation to the environment. Examples of tasks that greatly benefit from the ability to detect movement are object segmentation, 3D scene reconstruction and control of attention. In computer vision several algorithms for computing visual motion and optic flow exist.
This article describes the hardware design of the iCub humanoid robot. The iCub is an open-source... more This article describes the hardware design of the iCub humanoid robot. The iCub is an open-source humanoid robotic platform designed explicitly to support research in embodied cognition. This paper covers the mechanical and electronic design of the first release of the robot. A series upgrades developed for the second version of the robot (iCub2), which are aimed at the improvement of the mechanical and sensing performance, are also described.
According to Zlatev and Balkenius (2001), the goal of Epigenetic robotics is to understand, and m... more According to Zlatev and Balkenius (2001), the goal of Epigenetic robotics is to understand, and model, the role of development in the emergence of increasingly complex cognitive structures from physical and social interaction. As such, Epigenetic Robotics is an interdisciplinary effort, combining developmental psychology, neuroscience, and robotics.
abstract Piezoelectric polymers have lossy and dispersive dielectric properties and exhibit highe... more abstract Piezoelectric polymers have lossy and dispersive dielectric properties and exhibit higher viscoelastic losses. Due to their lossy behavior, the lossy models developed for piezoceramics are insufficient for evaluating polymers. In this work we present a novel SPICE implementation of piezoelectric polymers model which includes the mechanical, electromechanical and dielectric losses.
Abstract The role of technology for the study of brain functions has always been fundamental in p... more Abstract The role of technology for the study of brain functions has always been fundamental in providing new tools for the acquisition/analysis of biological data. However the increasingly complex picture of brain functions emerging from neuroscience research is now posing a new challenge: how to extend our knowledge beyond the scope of specific experiments and methodologies?
Short Description: The main objective of this document is to provide a set of design principles t... more Short Description: The main objective of this document is to provide a set of design principles that allow our research into developmental robotics, developmental psychology, and cognitive science to coalesce into the design of a complete system's architecture that can be embodied into a physical system (a robotic platform) capable of interacting with the external environment. The system's architecture should provide a medium for an intentional process (as extensively defined in D2.
ABSTRACT One problem related to the actuation principle of macroscopic dielectric elastomer actua... more ABSTRACT One problem related to the actuation principle of macroscopic dielectric elastomer actuators is the high voltage required, typically in the Kilovolt range, that imposes particular care in the insulation of the whole actuator from the surrounding environment. This high actuation voltage, however, can be drastically reduced if a thin film of dielectric elastomer is used.
Abstract—The increasing complexity of humanoid robots and their expected performance in real dyna... more Abstract—The increasing complexity of humanoid robots and their expected performance in real dynamic environments demands an equally complex, autonomous and dynamic solution. The goal of this project is to design and implement a cognitive architecture based on the enactive paradigm of cognition. The core of this architecture will make use of Nonlinear Dynamical Systems Theory, and especially coupled chaotic systems.
Abstract For the purposes of manipulation, we would like to know what parts of the environment ar... more Abstract For the purposes of manipulation, we would like to know what parts of the environment are physically coherent ensembles, that is, which parts will move together, and which are more or less independent. It takes a great deal of experience before this judgement can be made from purely visual information.
Abstract We propose a new neural approach for approximating function using a reinforcement-type l... more Abstract We propose a new neural approach for approximating function using a reinforcement-type learning: each time the network generates an output, the environment responds with the scalar distance between the delivered output and the expected one. Thus, this distance is the only information the network can use to modify the estimation of the multi-dimensional output. This reinforcement feature is embedded in a neural-gas method, taking advantages of the different facilities it offers.
Most manipulation tasks involving the use of an end e ector coupled to a robot arm, require, as a... more Most manipulation tasks involving the use of an end e ector coupled to a robot arm, require, as a basic skill, the ability to reach a point in space. For example most of the tasks proposed by the organizers of this workshop (such as inserting, catching, digging, unlocking a door, feeding someone with a spoon and others), require, as a part of the overall task, to bring the end e ector close to some point in space.
The Problem: It is believed that one of the distinguishing skills of homo sapiens sapiens is that... more The Problem: It is believed that one of the distinguishing skills of homo sapiens sapiens is that of learning from imitation while it is less clear whether other primates are capable of true imitation. Imitation encompasses a set of different competences such as recognizing other people's actions, recognizing the goal of a particular action and the objects and/or subjects involved. This project attempts to implement a similar set of abilities in a humanoid robot following a biologically motivated perspective.
Abstract This paper describes a self-protective whole-body control method for humanoid robots. A ... more Abstract This paper describes a self-protective whole-body control method for humanoid robots. A set of postural reactions are used to create whole-body movements. A set of reactions is merged to cope with a general falling down direction, while allowing the upper limbs to contact safely with obstacles. The collision detection is achieved by force sensing. We verified that our method generates the self-protective motion in real time, and reduced the impact energy in multiple situations by simulator.
Abstract: Object segmentation is a fundamental problem in computer vision and a powerful resource... more Abstract: Object segmentation is a fundamental problem in computer vision and a powerful resource for development. This paper presents three embodied approaches to the visual segmentation of objects. Each approach to segmentation is aided by the presence of a hand or arm in the proximity of the object to be segmented. The first approach is suitable for a robotic system, where the robot can use its arm to evoke object motion.
Abstract Developmental robotics is an emerging field located at the intersection of developmental... more Abstract Developmental robotics is an emerging field located at the intersection of developmental psychology and robotics, that has lately attracted quite some attention. This paper gives a survey of a variety of research projects dealing with or inspired by developmental issues, and outlines possible future directions.
Abstract This work discusses the design and control approach of a 3 DOF waist joint for the" iCub... more Abstract This work discusses the design and control approach of a 3 DOF waist joint for the" iCub" humanoid robot." iCub" is a child like crawling robot that resembles a 2 and a half year old child. The ultimate goal of this project is to provide the cognition research community with an open human like platform for understanding of cognitive systems through the study of cognitive development. The designs of the mechanisms adopted for the waist joint are discussed.
Abstract--We describe an unsupervised on-line method for learning of manipulative actions that al... more Abstract--We describe an unsupervised on-line method for learning of manipulative actions that allows a robot to push an object connected to it with a rotational point contact to a desired point in image-space. By observing tile results of its actions on tile object's orientation in imagespace, the system forms a predictive forward empirical model. This acquired model is used on-line for manipulation planning and control as it improves.
Abstract The recent trend of humanoid robotics research has been deeply influenced by concepts su... more Abstract The recent trend of humanoid robotics research has been deeply influenced by concepts such as embodiment, embodied interaction and emergence. In our view, these concepts, beside shaping the controlling intelligence, should guide the very design process of the modern humanoid robotic platforms. In this paper, we discuss how these principles have been applied to the design of a humanoid robot called James.
Abstract Visual motion is a simple yet powerful cue widely used by biological systems to improve ... more Abstract Visual motion is a simple yet powerful cue widely used by biological systems to improve their perception and adaptation to the environment. Examples of tasks that greatly benefit from the ability to detect movement are object segmentation, 3D scene reconstruction and control of attention. In computer vision several algorithms for computing visual motion and optic flow exist.
This article describes the hardware design of the iCub humanoid robot. The iCub is an open-source... more This article describes the hardware design of the iCub humanoid robot. The iCub is an open-source humanoid robotic platform designed explicitly to support research in embodied cognition. This paper covers the mechanical and electronic design of the first release of the robot. A series upgrades developed for the second version of the robot (iCub2), which are aimed at the improvement of the mechanical and sensing performance, are also described.
According to Zlatev and Balkenius (2001), the goal of Epigenetic robotics is to understand, and m... more According to Zlatev and Balkenius (2001), the goal of Epigenetic robotics is to understand, and model, the role of development in the emergence of increasingly complex cognitive structures from physical and social interaction. As such, Epigenetic Robotics is an interdisciplinary effort, combining developmental psychology, neuroscience, and robotics.
abstract Piezoelectric polymers have lossy and dispersive dielectric properties and exhibit highe... more abstract Piezoelectric polymers have lossy and dispersive dielectric properties and exhibit higher viscoelastic losses. Due to their lossy behavior, the lossy models developed for piezoceramics are insufficient for evaluating polymers. In this work we present a novel SPICE implementation of piezoelectric polymers model which includes the mechanical, electromechanical and dielectric losses.
Abstract The role of technology for the study of brain functions has always been fundamental in p... more Abstract The role of technology for the study of brain functions has always been fundamental in providing new tools for the acquisition/analysis of biological data. However the increasingly complex picture of brain functions emerging from neuroscience research is now posing a new challenge: how to extend our knowledge beyond the scope of specific experiments and methodologies?
Short Description: The main objective of this document is to provide a set of design principles t... more Short Description: The main objective of this document is to provide a set of design principles that allow our research into developmental robotics, developmental psychology, and cognitive science to coalesce into the design of a complete system's architecture that can be embodied into a physical system (a robotic platform) capable of interacting with the external environment. The system's architecture should provide a medium for an intentional process (as extensively defined in D2.
ABSTRACT One problem related to the actuation principle of macroscopic dielectric elastomer actua... more ABSTRACT One problem related to the actuation principle of macroscopic dielectric elastomer actuators is the high voltage required, typically in the Kilovolt range, that imposes particular care in the insulation of the whole actuator from the surrounding environment. This high actuation voltage, however, can be drastically reduced if a thin film of dielectric elastomer is used.
Abstract—The increasing complexity of humanoid robots and their expected performance in real dyna... more Abstract—The increasing complexity of humanoid robots and their expected performance in real dynamic environments demands an equally complex, autonomous and dynamic solution. The goal of this project is to design and implement a cognitive architecture based on the enactive paradigm of cognition. The core of this architecture will make use of Nonlinear Dynamical Systems Theory, and especially coupled chaotic systems.
Abstract For the purposes of manipulation, we would like to know what parts of the environment ar... more Abstract For the purposes of manipulation, we would like to know what parts of the environment are physically coherent ensembles, that is, which parts will move together, and which are more or less independent. It takes a great deal of experience before this judgement can be made from purely visual information.
Abstract We propose a new neural approach for approximating function using a reinforcement-type l... more Abstract We propose a new neural approach for approximating function using a reinforcement-type learning: each time the network generates an output, the environment responds with the scalar distance between the delivered output and the expected one. Thus, this distance is the only information the network can use to modify the estimation of the multi-dimensional output. This reinforcement feature is embedded in a neural-gas method, taking advantages of the different facilities it offers.
Most manipulation tasks involving the use of an end e ector coupled to a robot arm, require, as a... more Most manipulation tasks involving the use of an end e ector coupled to a robot arm, require, as a basic skill, the ability to reach a point in space. For example most of the tasks proposed by the organizers of this workshop (such as inserting, catching, digging, unlocking a door, feeding someone with a spoon and others), require, as a part of the overall task, to bring the end e ector close to some point in space.
The Problem: It is believed that one of the distinguishing skills of homo sapiens sapiens is that... more The Problem: It is believed that one of the distinguishing skills of homo sapiens sapiens is that of learning from imitation while it is less clear whether other primates are capable of true imitation. Imitation encompasses a set of different competences such as recognizing other people's actions, recognizing the goal of a particular action and the objects and/or subjects involved. This project attempts to implement a similar set of abilities in a humanoid robot following a biologically motivated perspective.
Abstract This paper describes a self-protective whole-body control method for humanoid robots. A ... more Abstract This paper describes a self-protective whole-body control method for humanoid robots. A set of postural reactions are used to create whole-body movements. A set of reactions is merged to cope with a general falling down direction, while allowing the upper limbs to contact safely with obstacles. The collision detection is achieved by force sensing. We verified that our method generates the self-protective motion in real time, and reduced the impact energy in multiple situations by simulator.
Abstract: Object segmentation is a fundamental problem in computer vision and a powerful resource... more Abstract: Object segmentation is a fundamental problem in computer vision and a powerful resource for development. This paper presents three embodied approaches to the visual segmentation of objects. Each approach to segmentation is aided by the presence of a hand or arm in the proximity of the object to be segmented. The first approach is suitable for a robotic system, where the robot can use its arm to evoke object motion.
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