| Autor: |
Díaz Ledezma F; Chair of Robotics and Systems Intelligence, MIRMI-Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Georg-Brauchle-Ring 60-62, München 80992, Germany., Haddadin S; Chair of Robotics and Systems Intelligence, MIRMI-Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Georg-Brauchle-Ring 60-62, München 80992, Germany. |
| Jazyk: |
angličtina |
| Zdroj: |
Science robotics [Sci Robot] 2023 Dec 13; Vol. 8 (85), pp. eadh0972. Date of Electronic Publication: 2023 Dec 13. |
| DOI: |
10.1126/scirobotics.adh0972 |
| Abstrakt: |
The morphology of a robot is typically assumed to be known, and data from external measuring devices are used mainly for its kinematic calibration. In contrast, we take an agent-centric perspective and ponder the vaguely explored question of whether a robot could learn elements of its morphology by itself, relying on minimal prior knowledge and depending only on unorganized proprioceptive signals. To answer this question, we propose a mutual information-based representation of the relationships between the proprioceptive signals of a robot, which we call proprioceptive information graphs (π-graphs). Leveraging the fact that the information structure of the sensorimotor apparatus is dependent on the embodiment of the robot, we use the π-graph to look for pairwise signal relationships that reflect the underlying kinematic first-order principles applicable to the robot's structure. In our discussion, we show that analysis of the π-graph leads to the inference of two fundamental elements of the robot morphology: its mechanical topology and corresponding kinematic description, that is, the location and orientation of the robot's joints. Results from a robot manipulator, a hexapod, and a humanoid robot show that the correct topology and kinematic description can be effectively inferred from their π-graph either offline or online, regardless of the number of links and body configuration. |
| Databáze: |
MEDLINE |
| Externí odkaz: |
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