Goal-directed learning of hand-eye coordination in a humanoid robot

Mathias Schmerling, G. Schillaci, V. Hafner
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引用次数: 13

Abstract

Visuo-motor coordination is known to be highly important for the development of a broader range of cognitive and motor skills in human infants and can thus be considered one of the key skills for robots to master. In this paper, we investigate how a recent concept in developmental robotics, referred to as goal babbling, relates to a visuo-motor coordination task in the humanoid robot Aldebaran Nao that requires coordinated control of two subsystems of motors, namely head and arm motors. The idea of goal babbling builds on findings in developmental psychology showing that human infants attempt goal-directed movements early on in their development enabling them to rapidly and efficiently bootstrap their motor system. Goal babbling has been shown to be superior to the classical idea of random motor babbling for the learning of body kinematics in robotic systems, in particular for systems with many degrees of freedom. Our results not only support the utility of goal babbling for the acquisition of visuo-motor coordination skills but also suggest that goal babbling is particularly effective in the case where two separate motor sub-systems, head and arm, need to be coordinated.
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仿人机器人手眼协调的目标导向学习
众所周知,视觉运动协调对于人类婴儿更广泛的认知和运动技能的发展非常重要,因此可以被认为是机器人需要掌握的关键技能之一。在本文中,我们研究了发展机器人中的一个新概念,即目标咿呀学语,如何与人形机器人Aldebaran Nao的视觉-运动协调任务相关,该任务需要协调控制两个电机子系统,即头部和手臂电机。目标咿呀学语的想法建立在发展心理学的发现之上,这些发现表明,人类婴儿在发育的早期就尝试目标导向的运动,使他们能够快速有效地引导他们的运动系统。在机器人系统中,特别是在多自由度系统中,目标牙牙学已被证明优于经典的随机运动牙牙学思想。我们的研究结果不仅支持了目标咿呀学语对视觉运动协调技能习得的作用,而且表明目标咿呀学语在需要协调头部和手臂这两个独立的运动子系统的情况下特别有效。
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