Forward Models Applied in Visual Servoing for a Reaching Task in the iCub Humanoid Robot
This paper details the application of a forward model to improve a reaching task. The reaching task must be accomplished by a humanoid robot with 53 degrees of freedom (d.o.f.) and a stereo-vision system. We have explored via simulations a new way of constructing and utilizing a forward model that e...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2009-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1080/11762320903180849 |
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| _version_ | 1832559889632722944 |
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| author | Daniel Fernando Tello Gamarra Lord Kenneth Pinpin Cecilia Laschi Paolo Dario |
| author_facet | Daniel Fernando Tello Gamarra Lord Kenneth Pinpin Cecilia Laschi Paolo Dario |
| author_sort | Daniel Fernando Tello Gamarra |
| collection | DOAJ |
| description | This paper details the application of a forward model to improve a reaching task. The reaching task must be accomplished by a humanoid robot with 53 degrees of freedom (d.o.f.) and a stereo-vision system. We have explored via simulations a new way of constructing and utilizing a forward model that encodes eye–hand relationships. We constructed a forward model using the data obtained from only a single reaching attempt. ANFIS neural networks are used to construct the forward model, but the forward model is updated online with new information that comes from each reaching attempt. Using the obtained forward model, an initial image Jacobian is estimated and is used with a visual servoing controller. Simulation results demonstrate that errors are lower when the initial image Jacobian is derived from the forward model. This paper is one of the few attempts at applying visual servoing in a complete humanoid robot. |
| format | Article |
| id | doaj-art-39b4f12e9e914f0e975e226e7c9faa7d |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2009-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-39b4f12e9e914f0e975e226e7c9faa7d2025-02-03T01:28:54ZengWileyApplied Bionics and Biomechanics1176-23221754-21032009-01-0163-434535410.1080/11762320903180849Forward Models Applied in Visual Servoing for a Reaching Task in the iCub Humanoid RobotDaniel Fernando Tello Gamarra0Lord Kenneth Pinpin1Cecilia Laschi2Paolo Dario3Scuola Superiore Sant'Anna, ARTS Lab (Advanced Robotics Technology and Systems Laboratory), V.le Rinaldo Piaggio, 34-56025 Pontedera (PI), ItalyScuola Superiore Sant'Anna, ARTS Lab (Advanced Robotics Technology and Systems Laboratory), V.le Rinaldo Piaggio, 34-56025 Pontedera (PI), ItalyScuola Superiore Sant'Anna, ARTS Lab (Advanced Robotics Technology and Systems Laboratory), V.le Rinaldo Piaggio, 34-56025 Pontedera (PI), ItalyScuola Superiore Sant'Anna, ARTS Lab (Advanced Robotics Technology and Systems Laboratory), V.le Rinaldo Piaggio, 34-56025 Pontedera (PI), ItalyThis paper details the application of a forward model to improve a reaching task. The reaching task must be accomplished by a humanoid robot with 53 degrees of freedom (d.o.f.) and a stereo-vision system. We have explored via simulations a new way of constructing and utilizing a forward model that encodes eye–hand relationships. We constructed a forward model using the data obtained from only a single reaching attempt. ANFIS neural networks are used to construct the forward model, but the forward model is updated online with new information that comes from each reaching attempt. Using the obtained forward model, an initial image Jacobian is estimated and is used with a visual servoing controller. Simulation results demonstrate that errors are lower when the initial image Jacobian is derived from the forward model. This paper is one of the few attempts at applying visual servoing in a complete humanoid robot.http://dx.doi.org/10.1080/11762320903180849 |
| spellingShingle | Daniel Fernando Tello Gamarra Lord Kenneth Pinpin Cecilia Laschi Paolo Dario Forward Models Applied in Visual Servoing for a Reaching Task in the iCub Humanoid Robot Applied Bionics and Biomechanics |
| title | Forward Models Applied in Visual Servoing for a Reaching Task in the iCub Humanoid Robot |
| title_full | Forward Models Applied in Visual Servoing for a Reaching Task in the iCub Humanoid Robot |
| title_fullStr | Forward Models Applied in Visual Servoing for a Reaching Task in the iCub Humanoid Robot |
| title_full_unstemmed | Forward Models Applied in Visual Servoing for a Reaching Task in the iCub Humanoid Robot |
| title_short | Forward Models Applied in Visual Servoing for a Reaching Task in the iCub Humanoid Robot |
| title_sort | forward models applied in visual servoing for a reaching task in the icub humanoid robot |
| url | http://dx.doi.org/10.1080/11762320903180849 |
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