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Generating pointing motions for a humanoid robot by combining motor primitives

Tieck, J. C. V.; Schnell, T.; Kaiser, J.; Mauch, F.; Roennau, A.; Dillmann, R.

Abstract (englisch):
The human motor system is robust, adaptive and very flexible. The underlying principles of human motion provide inspiration for robotics. Pointing at different targets is a common robotics task, where insights about human motion can be applied. Traditionally in robotics, when a motion is generated it has to be validated so that the robot configurations involved are appropriate. The human brain, in contrast, uses the motor cortex to generate new motions reusing and combining existing knowledge before executing the motion. We propose a method to generate and control pointing motions for a robot using a biological inspired architecture implemented with spiking neural networks. We outline a simplified model of the human motor cortex that generates motions using motor primitives. The network learns a base motor primitive for pointing at a target in the center, and four correction primitives to point at targets up, down, left and right from the base primitive, respectively. The primitives are combined to reach different targets. We evaluate the performance of the network with a humanoid robot pointing at different targets marked on a plane. ... mehr

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Verlagsausgabe §
DOI: 10.5445/IR/1000099401
Veröffentlicht am 29.10.2019
Originalveröffentlichung
DOI: 10.3389/fnbot.2019.00077
Scopus
Zitationen: 6
Web of Science
Zitationen: 5
Dimensions
Zitationen: 8
Cover der Publikation
Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Zeitschriftenaufsatz
Publikationsjahr 2019
Sprache Englisch
Identifikator ISSN: 1662-5218
KITopen-ID: 1000099401
Erschienen in Frontiers in neurorobotics
Verlag Frontiers Media
Band 13
Seiten Article No.77
Vorab online veröffentlicht am 18.09.2019
Nachgewiesen in Web of Science
Dimensions
Scopus
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