Coupled inverse-forward models for action execution leading to tool-use in a humanoid robot
Coupled inverse-forward models for action execution leading to tool-use in a humanoid robot
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用于动作执行的耦合逆向模型导致人形机器人中的工具使用
DOI：
10.1145/2157689.2157770
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
B. Lara
中科院分区：
文献类型：
--
作者：
G. Schillaci;V. Hafner;B. Lara
我们提出了一个计算模型的基础上的逆-正模型对的模拟和执行的行动。该模型是在一个人形机器人上实现的，并用于控制手臂的动作。在实验装置中，一个工具已被连接到机器人的左臂延伸其覆盖的行动空间。进行的初步调查旨在研究工具的使用如何改变机器人的身体结构。系统在实际执行之前执行动作模拟。对于每个臂，预测的末端执行器位置与期望的位置进行比较，并且选择呈现最低误差的内部对用于动作执行。这允许机器人决定单独用手或用带有附加工具的手来执行动作。
We propose a computational model based on inverse-forward model pairs for the simulation and execution of actions. The models are implemented on a humanoid robot and are used to control reaching actions with the arms. In the experimental setup a tool has been attached to the left arm of the robot extending its covered action space. The preliminary investigations carried out aim at studying how the use of tools modifies the body scheme of the robot. The system performs action simulations before the actual executions. For each of the arms, predicted end-effector positions are compared with the desired one and the internal pair presenting the lowest error is selected for action execution. This allows the robot to decide on performing an action either with its hand alone or with the one with the attached tool.