Reach and grasp for an anthropomorphic robotic system based on sensorimotor learning

Selim Eskiizmirliler, Marc A. Maier, Loredana Zollo, Luigi Manfredi, Giancarlo Teti, Cecilia Laschi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

In this article, we present a neurobiologically inspired multinetwork architecture based on knowledge of cortico-cortical connectivity and its application on an anthropomorphic head-arm-hand robotic system to provide reach-and-grasp kinematics based on multimodal sensorimotor learning. The system incorporates artificial neural network modules (matching units) trained by the locally weighted projection regression (LWPR) algorithm that enables progressive learning from simple to more complex sensorimotor tasks. We report the actual performance of the system by comparing the simulation with the experimental results obtained by the implementation on the real world artefact.

Original languageEnglish
Title of host publicationProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Pages708-713
Number of pages6
Volume2006
DOIs
Publication statusPublished - 20 Feb 2006
Event1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy
Duration: 20 Feb 200622 Feb 2006

Conference

Conference1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
CountryItaly
CityPisa
Period20/02/0622/02/06

Keywords

  • Artificial neural networks
  • Multi modal sensory integration
  • Neuro-robotics
  • Sensorimotor control

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    Eskiizmirliler, S., Maier, M. A., Zollo, L., Manfredi, L., Teti, G., & Laschi, C. (2006). Reach and grasp for an anthropomorphic robotic system based on sensorimotor learning. In Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 (Vol. 2006, pp. 708-713). [1639173] https://doi.org/10.1109/BIOROB.2006.1639173