Toward Video-Guided Robot Behaviors
Toward Video-Guided Robot Behaviors
复制标题
走向视频引导的机器人行为
DOI：
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发表时间：
2007
期刊：
影响因子：
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通讯作者：
Alexander Stoytchev
中科院分区：
文献类型：
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作者：
Alexander Stoytchev
本文展示了机器人如何在电视监视器中检测到自己的图像，并使用实时视频来指导自己的行动，以达到只能通过电视图像观察到的对象。该机器人利用其运动命令和电视监视器中观察到的自我运动之间的时间偶然性来扩展其身体图式表示。扩展的身体模式允许机器人通过电视图像引导其手臂运动，就像它直接观察自己的手臂一样。
This paper shows how a robot can detect its self-image in a TV monitor and use the realtime video to guide its own actions in order to reach an object that can only be observed through the TV image. The robot exploits the temporal contingency between its motor commands and the observed self-movements in the TV monitor to extend its body schema representation. The extended body schema allows the robot to guide its arm movements through the TV image as if it were observing its own arm directly.