A Hierarchical System for a Distributed Representation of the Peripersonal Space of a Humanoid Robot
A Hierarchical System for a Distributed Representation of the Peripersonal Space of a Humanoid Robot
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DOI：
10.1109/tamd.2014.2332875
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发表时间：
2014-12-01
影响因子：
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通讯作者：
Sabatini, Silvio P.
中科院分区：
文献类型：
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作者：
Antonelli, Marco;Gibaldi, Agostino;Sabatini, Silvio P.
在未知和非结构化的环境中到达目标物体是人类很容易做到的。然而，设计一个执行相同任务的类人机器人需要实现复杂的能力，例如在视野中识别目标，估计其空间位置，并精确驱动手臂的电机到达目标。虽然研究通常是单独处理这种能力的发展，但在这项工作中，我们将许多计算模型集成到一个统一的框架中，并在人形躯干中展示了其周围个人空间的集成工作表示的可行性。为了实现这一目标，我们提出了一种认知架构，该架构连接了受大脑视觉、额叶和后顶叶皮层神经回路启发的几个模型。整合过程的结果是一个系统，该系统允许机器人通过感知和行动的相互适应，直接与环境互动，从而创建其内部模型和周围空间的表示。机器人最终能够执行一系列任务，比如识别、凝视和到达目标物体，这些任务可以单独工作，也可以协同工作，以支持更有条理、更有效的行为。
Reaching a target object in an unknown and unstructured environment is easily performed by human beings. However, designing a humanoid robot that executes the same task requires the implementation of complex abilities, such as identifying the target in the visual field, estimating its spatial location, and precisely driving the motors of the arm to reach it. While research usually tackles the development of such abilities singularly, in this work we integrate a number of computational models into a unified framework, and demonstrate in a humanoid torso the feasibility of an integrated working representation of its peripersonal space. To achieve this goal, we propose a cognitive architecture that connects several models inspired by neural circuits of the visual, frontal and posterior parietal cortices of the brain. The outcome of the integration process is a system that allows the robot to create its internal model and its representation of the surrounding space by interacting with the environment directly, through a mutual adaptation of perception and action. The robot is eventually capable of executing a set of tasks, such as recognizing, gazing and reaching target objects, which can work separately or cooperate for supporting more structured and effective behaviors.