| Autor: |
Davide Marocco, Salomon Ramirez-Contla |
| Přispěvatelé: |
Ramirez Contla, Salomon, Marocco, Davide |
| Rok vydání: |
2013 |
| Předmět: |
|
| Zdroj: |
ICDL-EPIROB |
| DOI: |
10.1109/devlrn.2013.6652546 |
| Popis: |
We present a model for reachability assessment implemented in a simulated iCub humanoid robot. The robot uses a neural network both for estimating reachability and as a controller for the arm. During training, multi-modality information including vision and proprioception of the effector's length was provided, along with tactile and postural information. The task was to assess if a target in view was at reach range. After training with data from two different effector's lengths, the system generalised also for a third one, both for producing reaching postures and for assessing reachability. We present preliminary results that show good reachability predictions with a decrease in confidence that display a depth gradient. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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