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From Sensorimotor Primitives to Manipulation and Imitation Strategies in Humanoid Robots

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Book cover Robotics Research

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 70))

Abstract

Regardless of the application area, one of the common problems tackled in humanoid robotics is the investigation towards understanding of human-like information processing and the underlying mechanisms of the human brain in dealing with the real world. Therefore, we are building humanoid robots with complex and rich sensorimotor capabilities as the most suitable experimental platform for studying cognitive information processing. The target system is supposed to interact and function together with humans. It is meant to be able to cooperate and to enter a dialogue with them. Therefore it needs to understand both what it perceives and what it does. To achieve this goal we are following a holistic approach and investigating how different partial results, achieved in sub-disciplines related to the development of humanoids, fit together to achieve complete processing models and integrative system architectures, and how to evaluate results at system level rather than focusing on the performance of component algorithms. In this paper we present our recent and current progress in this direction. For doing so, we present our work on the development of humanoid platforms, the programming of grasping and manipulation tasks, the multi-sensory object exploration as well as the learning of motor knowledge from human observation.

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Author information

Authors and Affiliations

  1. Institute for Anthropomatics, Humanoids and Intteligence Laboratory, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany

    Tamim Asfour, Martin Do, Kai Welke, Alexander Bierbaum, Pedram Azad, Nikolaus Vahrenkamp, Stefan Gärtner & Rüdiger Dillmann

  2. Department of Automatics, Biocybernetics, and Robotics, Jozef Stefan Institute, Ljubljana, Slovenia

    Ales Ude

Authors
  1. Tamim Asfour
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  2. Martin Do
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  3. Kai Welke
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  4. Alexander Bierbaum
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  5. Pedram Azad
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  6. Nikolaus Vahrenkamp
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  7. Stefan Gärtner
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  8. Ales Ude
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  9. Rüdiger Dillmann
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Editor information

Editors and Affiliations

  1. Institute of Robotics and Intelligent Systems Autonomous Systems Lab , ETH Zürich, Tannenstrasse 3, 8092, Zürich, Switzerland

    Cédric Pradalier  & Roland Siegwart  & 

  2. Institute of Robotics and Mechatronics , German Aerospace Center (DLR), Münchner Strasse 20, 82234, Oberpfaffenhofen-Wessling, Germany

    Gerhard Hirzinger

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© 2011 Springer-Verlag Berlin Heidelberg

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Asfour, T. et al. (2011). From Sensorimotor Primitives to Manipulation and Imitation Strategies in Humanoid Robots. In: Pradalier, C., Siegwart, R., Hirzinger, G. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 70. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-19457-3_22

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  • DOI: https://doi.org/10.1007/978-3-642-19457-3_22

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-19456-6

  • Online ISBN: 978-3-642-19457-3

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