Self-discovery of motor primitives and learning grasp affordances

Name: Self-discovery of motor primitives and learning grasp affordances
Author: Uğur, E., Şahin, E., Öztop, Erhan

İsim	Self-discovery of motor primitives and learning grasp affordances
Yazar	Uğur, E., Şahin, E., Öztop, Erhan
Basım Tarihi:	2012
Basım Yeri	- IEEE
Konu	Humanoid robots, Manipulators, Motion control, Sensors
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	978-1-4673-1737-5
Kayıt Numarası	e6f24604-a3f8-4538-b29e-15c5b74731d7
Lokasyon	Computer Science
Tarih	2012
Notlar	Due to copyright restrictions, the access to the full text of this article is only available via subscription.
Örnek Metin	Human infants practice their initial, seemingly random arm movements for transforming them into voluntary reaching and grasping actions. With the developing perceptual abilities, infants further explore their environment using the behavior repertoire they have developed, and learn causality relations in the form of affordances, which they use for goal satisfaction and motor planning. This study proposes and implements a developmental progression on a robotic system mimicking the aforementioned infant development stages: An anthropomorphic robot hand with one basic action of swing-hand and the palmar reflex (i.e. the enclosure of the fingers upon contact) at its disposal, executes swing-hand action targeted to a salient object with different hand speeds. During the executions, it monitors the changes in its sensors, automatically forming behavior primitives such as `grasp', `hit', `carry-object' and `drop' by segmenting and differentiating the initial swing-hand action. The study then focuses on one of these behaviors, namely grasping, and shows how further practice allows the robot to learn affordances of more complex objects, which can be further used to make plans to achieve desired goals using the discovered behavior repertoire.
DOI	10.1109/IROS.2012.6385639

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Self-discovery of motor primitives and learning grasp affordances

Yazar Uğur, E., Şahin, E., Öztop, Erhan

Basım Tarihi 2012

Basım Yeri - IEEE

Konu Humanoid robots, Manipulators, Motion control, Sensors

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 978-1-4673-1737-5

Kayıt Numarası e6f24604-a3f8-4538-b29e-15c5b74731d7

Lokasyon Computer Science

Tarih 2012

Notlar Due to copyright restrictions, the access to the full text of this article is only available via subscription.

Örnek Metin Human infants practice their initial, seemingly random arm movements for transforming them into voluntary reaching and grasping actions. With the developing perceptual abilities, infants further explore their environment using the behavior repertoire they have developed, and learn causality relations in the form of affordances, which they use for goal satisfaction and motor planning. This study proposes and implements a developmental progression on a robotic system mimicking the aforementioned infant development stages: An anthropomorphic robot hand with one basic action of swing-hand and the palmar reflex (i.e. the enclosure of the fingers upon contact) at its disposal, executes swing-hand action targeted to a salient object with different hand speeds. During the executions, it monitors the changes in its sensors, automatically forming behavior primitives such as `grasp', `hit', `carry-object' and `drop' by segmenting and differentiating the initial swing-hand action. The study then focuses on one of these behaviors, namely grasping, and shows how further practice allows the robot to learn affordances of more complex objects, which can be further used to make plans to achieve desired goals using the discovered behavior repertoire.

DOI 10.1109/IROS.2012.6385639