Dataset Information

Generating Pointing Motions for a Humanoid Robot by Combining Motor Primitives.

ABSTRACT: The human motor system is robust, adaptive and very flexible. The underlying principles of human motion provide inspiration for robotics. Pointing at different targets is a common robotics task, where insights about human motion can be applied. Traditionally in robotics, when a motion is generated it has to be validated so that the robot configurations involved are appropriate. The human brain, in contrast, uses the motor cortex to generate new motions reusing and combining existing knowledge before executing the motion. We propose a method to generate and control pointing motions for a robot using a biological inspired architecture implemented with spiking neural networks. We outline a simplified model of the human motor cortex that generates motions using motor primitives. The network learns a base motor primitive for pointing at a target in the center, and four correction primitives to point at targets up, down, left and right from the base primitive, respectively. The primitives are combined to reach different targets. We evaluate the performance of the network with a humanoid robot pointing at different targets marked on a plane. The network was able to combine one, two or three motor primitives at the same time to control the robot in real-time to reach a specific target. We work on extending this work from pointing to a given target to performing a grasping or tool manipulation task. This has many applications for engineering and industry involving real robots.

SUBMITTER: Tieck JCV

PROVIDER: S-EPMC6759768 | biostudies-literature | 2019

REPOSITORIES: biostudies-literature

ACCESS DATA

Publications

Generating Pointing Motions for a Humanoid Robot by Combining Motor Primitives.

Tieck J Camilo Vasquez JCV Schnell Tristan T Kaiser Jacques J Mauch Felix F Roennau Arne A Dillmann Rüdiger R

Frontiers in neurorobotics 20190918

The human motor system is robust, adaptive and very flexible. The underlying principles of human motion provide inspiration for robotics. Pointing at different targets is a common robotics task, where insights about human motion can be applied. Traditionally in robotics, when a motion is generated it has to be validated so that the robot configurations involved are appropriate. The human brain, in contrast, uses the motor cortex to generate new motions reusing and combining existing knowledge be ...[more]

PMID: 31619981

Similar Datasets

Project description:To accelerate the deep application of deep learning in text data processing, an English statistical translation system is established and applied to the question answering of humanoid robot. Firstly, the model of machine translation based on recursive neural network is implemented. A crawler system is established to collect English movie subtitle data. On this basis, an English subtitle translation system is designed. Then, combined with sentence embedding technology, the Particle Swarm Optimization (PSO) algorithm of meta-heuristic algorithm is adopted to locate the defects of translation software. A translation robot automatic question and answer interactive module is constructed. Additionally, the hybrid recommendation mechanism based on personalized learning is built using blockchain technology. Finally, the performance of translation model and software defect location model is evaluated. The results show that the Recurrent Neural Network (RNN) embedding algorithm has certain effect of word clustering. RNN embedded model has a strong ability to process short sentences. The strongest translated sentences are between 11 and 39 words long, while the weakest translated sentences are between 71 and 79 words long. Therefore, the model must strengthen the processing of long sentences, especially character-level input. The average sentence length is much longer than word-level input. The model based on PSO algorithm shows good accuracy in different data sets. This model averages better performance on Tomcat, standard widget toolkits, and Java development tool datasets than other comparison methods. The average reciprocal rank and average accuracy of the weight combination of PSO algorithm are very high. Moreover, this method is greatly affected by the dimension of the word embedding model, and the 300-dimension word embedding model has the best effect. To sum up, this study proposes a good statistical translation model for humanoid robot English translation, which lays the foundation for intelligent interaction between humanoid robots.

Dataset Information

Generating Pointing Motions for a Humanoid Robot by Combining Motor Primitives.

Publications

Generating Pointing Motions for a Humanoid Robot by Combining Motor Primitives.

Similar Datasets

OmicsDI is part of the ELIXIR infrastructure

Tweets