ONLINE LEARNING OF THE BODY SCHEMA
- HERSCH, MICHA LASA, School of Engineering, EPFL, Station 9, 1015 Lausanne, Switzerland
- SAUSER, ERIC LASA, School of Engineering, EPFL, Station 9, 1015 Lausanne, Switzerland
- BILLARD, AUDE LASA, School of Engineering, EPFL, Station 9, 1015 Lausanne, Switzerland
- 2011-11-20
Published in:
- International Journal of Humanoid Robotics. - World Scientific Pub Co Pte Lt. - 2008, vol. 05, no. 02, p. 161-181
English
We present an algorithm enabling a humanoid robot to visually learn its body schema, knowing only the number of degrees of freedom in each limb. By "body schema" we mean the joint positions and orientations and thus the kinematic function. The learning is performed by visually observing its end-effectors when moving them. With simulations involving a body schema of more than 20 degrees of freedom, results show that the system is scalable to a high number of degrees of freedom. Real robot experiments confirm the practicality of our approach. Our results illustrate how subjective space representation can develop as a result of sensorimotor contingencies.
- Language
-
- English
- Open access status
- green
- Identifiers
-
- DOI 10.1142/s0219843608001376
- ISSN 0219-8436
- Persistent URL
- https://sonar.rero.ch/global/documents/211340
Statistics
Document views: 28
File downloads:
- fulltext.pdf: 0