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Development of cutaneo-motor coordination in an autonomous robotic system

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Abstract

The capability of autonomously discovering relations between perceptual data and motor actions is crucial for the development of robust adaptive robotic systems intended to operate in an unknown environment. In the case of robotic tactile perception, a proper interaction between contact sensing and motor control is the basic step toward the execution of complex motor procedures such as grasping and manipulation.

In this paper the autonomous development of cutaneo-motor coordination is investigated in the case of a robotic finger mounted on a robotic manipulator, for a particular class of micromovements. A neural network architecture linking changes in the sensed tactile pattern with the motor actions performed is described and experimental results are analyzed. Examples of application of the developed sensory-motor coordination in the generation of motor control procedures for the estimate of surface curvature are considered.

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Authors and Affiliations

  1. ARTS Lab-Advanced Robotics Technology, and Systems Laboratory, Scuola Superiore S. Anna, Via G. Carducci, 40, 56127, Pisa, Italy

    Michele Rucci & Paolo Dario

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  1. Michele Rucci
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  2. Paolo Dario
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Rucci, M., Dario, P. Development of cutaneo-motor coordination in an autonomous robotic system. Auton Robot 1, 93–106 (1994). https://doi.org/10.1007/BF00735344

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