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A developmental approach for pre-orientation in humanoid robots

Aupers, W. (2002) A developmental approach for pre-orientation in humanoid robots. Master's Thesis / Essay, Artificial Intelligence.

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Abstract

The aim of the research presented in this paper was to show how the developmental perspective for developing humanoid robots could be extended to the pre—grasp orientation of the wrist, based on evidence from development in infants and on the Goodale and Milner hypothesis about dorsal—stream information processing for reaching and pre-grasp orienting in the brain of adults. The model that has been developed features a learning mechanism that associates low—level visual information on the retinal orientation of objects with motor-commands fororienting the wrist, using a posturing task for the hand to learn this association. The model starts with a simple reflex and noisy motor command generation. Through proprioceptic feedback on the success of the posturing task it gradually builds a more precise mapping of the different motor commands associated with visually observed orientations of the objects. The model shows, as can be observed in infants, that the orientation behavior of the hand only starts to develop when reaching is precise enough and thus provides proprioceptic feedback on the success of the posturing task for the hand.

Item Type: Thesis (Master's Thesis / Essay)
Degree programme: Artificial Intelligence
Thesis type: Master's Thesis / Essay
Language: English
Date Deposited: 15 Feb 2018 07:29
Last Modified: 15 Feb 2018 07:29
URI: http://fse.studenttheses.ub.rug.nl/id/eprint/8662

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