NDLI: Construction of Robotic Body Schema by Extracting Temporal Information from Sensory Inputs

Content Provider	IEEE Xplore Digital Library
Author	Sugiura, K. Matsubara, D. Katai, O.
Copyright Year	2006
Description	Author affiliation: Graduate Sch. of Informatics, Kyoto Univ. (Sugiura, K.; Matsubara, D.; Katai, O.)
Abstract	This paper proposes a method that incrementally develops the "body schema" of a robot. The method has three features: 1) estimation of light-sensor positions based on the time difference of arrival (TDOA) of signals and multidimensional scaling (MDS); 2) incremental update of the estimation; and 3) no additional equipment. We carried out simulation experiments in which a mobile robot moves around environments or follow another robot. Each robot has several light sensors that collect data from which cross-correlation functions are derived and the TDOA is computed. Experimental results show that our method can estimate the positions of sensors deployed on the body and identify the sensors on the same part of the body
Starting Page	302
Ending Page	307
File Size	6944121
Page Count	6
File Format	PDF
ISBN	8995003847
DOI	10.1109/SICE.2006.315696
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-18
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	The Institute of Control, Automation and Systems
Subject Keyword	Robot sensing systems Data mining Cognitive robotics Humans Service robots Time difference of arrival Multidimensional systems Computational modeling Mobile robots Morphology cross-correlation embodiment robotic body schema localization incremental mapping
Content Type	Text
Resource Type	Article

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