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Visuomotor Mapping Based on Hering’s Law for a Redundant Active Stereo Head and a 3 DOF Arm

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Bio-Inspired Models of Network, Information, and Computing Systems (BIONETICS 2012)

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Abstract

How humans are able to move the arm so to reach an object in space is far from being completely understood. The problem is often addressed computing a visuomotor mapping between image features and arm joints configurations. We propose a biologically inspired controller able to compute the visuomotor mapping of a simplified humanoid model. The simulated robotic system is composed by a redundant active stereo head and by a 3 degrees of freedom arm with human-like mechanics constraints. The head is driven by a biologically plausible controller based on the Hering’s law of equal innervation. The overall system is able to perceive a feature in space through the stereo cameras, compute the head joint angles to foveate it and, without moving the head, to perform the mapping between the foveation angles and the final joints configuration of the arm for reaching that feature. The visuomotor mapping is obtained over a radial basis network, using as input the foveation angles of the head. The network training is performed following the motor babbling schema, using a 10-fold cross-validation technique to validate the robustness of the mapping. Our results show how the visuomotor mapping is able to efficiently cover the whole arm workspace.

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Acknowledgments

Partial support to this work has been provided by the 2010-2012 Italian-Korean bilateral project (ICT-CNR and KAIST). The authors gratefully acknowledge the contribution of the NVIDIA Academic Partnership for providing GPU computing devices.

This work was partially developed at Artificial Intelligence Laboratory, Department of Informatics, University of Zurich.

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Authors and Affiliations

  1. Dipartimento di Elettronica e Informazione, Politecnico di Milano, Milano, Italy

    Flavio Mutti & Giuseppina Gini

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  1. Flavio Mutti
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  2. Giuseppina Gini
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Correspondence to Flavio Mutti .

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Editors and Affiliations

  1. Dalle Molle Institute for Artificial Intelligence (IDSIA), Manno-Lugano, Switzerland

    Gianni A. Di Caro

  2. CNRS UMR 5169, Research Center on Animal Cognition, Université Paul Sabatier, Toulouse, France

    Guy Theraulaz

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Mutti, F., Gini, G. (2014). Visuomotor Mapping Based on Hering’s Law for a Redundant Active Stereo Head and a 3 DOF Arm. In: Di Caro, G., Theraulaz, G. (eds) Bio-Inspired Models of Network, Information, and Computing Systems. BIONETICS 2012. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 134. Springer, Cham. https://doi.org/10.1007/978-3-319-06944-9_5

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  • DOI: https://doi.org/10.1007/978-3-319-06944-9_5

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-06943-2

  • Online ISBN: 978-3-319-06944-9

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