NDLI: Learning Sensory-Motor Maps for Redundant Robots

Content Provider	IEEE Xplore Digital Library
Author	Lopes, M. Santos-Victor, J.
Copyright Year	2006
Description	Author affiliation: Instituto de Sistemas e Robotica, Instituto Superior Tecnico, Lisboa (Lopes, M.; Santos-Victor, J.)
Abstract	Humanoid robots are routinely engaged in tasks requiring the coordination between multiple degrees of freedom and sensory inputs, often achieved through the use of sensory-motor maps (SMMs). Most of the times, humanoid robots have more degrees of freedom (DOFs) available than those necessary to solve specific tasks. Notwithstanding, the majority of approaches for learning these SMMs do not take that into account. At most, the redundant degrees of freedom (degrees of redundancy, DOR) are "frozen" with some auxiliary criteria or heuristic rule. We present a solution to the problem of learning the forward/backward model, when the map is not injective, as in redundant robots. We propose the use of a "minimum order SMM" that takes the desired image configuration and the DORs as input variables, while the non-redundant DOFs are viewed as outputs. Since the DORs are not frozen in this process, they can be used to solve additional tasks or criteria. This method provides a global solution for positioning a robot in the workspace, without the need to move in an incremental way. We provide examples where these tasks correspond to optimization criteria that can be solved online. We show how to learn the "minimum order SMM" using a local statistical learning method. Extensive experimental results with a humanoid robot are discussed to validate the approach, showing how to learn the minimum order SMM of a redundant system and using the redundancy to accomplish auxiliary tasks
Starting Page	2670
Ending Page	2676
File Size	286341
Page Count	7
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281988
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Robot kinematics Humanoid robots Intelligent robots Input variables Predictive models Wrist Statistical learning Inverse problems Head
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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