RoboSoM
A Robotic Sense of Movement
Project Lifetime
The objective of the RoboSoM project is to investigate and to apply new approaches to the design and development of humanoid robots with advanced perception and action capabilities, showing robust, adaptive, predictive and effective behaviour in the real world. The proposed new approaches are strongly based on the concept of human sense of movement by Alain Berthoz, a key partner in this project. There are two main ideas related to this concept, which are relevant to robotics: 1) the vestibular unified reference frame, as set by the vestibular system in the centre of the head; 2) Expected Perception (EP), or the capability to make predictions of consequences of actions, which is at the basis of the human predictive behaviour. The expected robot behaviour is the capability to follow a visual target by coordinating eye, head, and leg movements, with head stabilization, walking smoothly and effectively in an unstructured environment, with a robust reactive behaviour, improved by predictions. This behaviour is a fundamental, but quite novel, capability for humanoid robots, and it may result in a truly robust and effective behaviour in many helpful tasks in real-world scenarios. The proposed project uses the existing and fully operational SABIAN biped humanoid robotic platform.
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Centre National de la Recherche Scientifique, Paris (France) |
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Istituto Superior Técnico, Lisbon (Portugal) |
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Waseda University, Tokyo (Japan) |
• K. Hashimoto, H. J. Kang, K. Nishikawa, E. Falotico, A. Takanishi, C. Laschi, P. Dario and A. Berthoz, "Biped Walking Stabilization on Soft Ground Based on Gait Analysis" Proceedings of the 4th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Rome, Italy, June, 2012.
• D. Zambrano, D. Bernardin, D. Bennequin, C. Laschi, A. Berthoz, " A Comparison of Human Trajectory Planning Models for Implementation on Humanoid Robot" Proceedings of the 4th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Rome, Italy, June, 2012.
• E. Falotico, C. Laschi , P. Dario, D. Bernardin , A. Berthoz, (2011), “Using trunk compensation to model head stabilization during locomotion”, International Conference on Humanoid Robots (Humanoids), 11thIEEE-RAS.
• J. Ruesch, R. Ferreira, A. Bernardino, “Predicting visual stimuli from self-induced actions: an adaptive model of a corollary discharge circuit”, IEEE Transactions on Autonomous Mental Development, Oct. 2011.
• N. Moutinho, N. Cauli, E. Falotico, R. Ferreira, J. Gaspar, A. Bernardino, J. Santos-Victor, P. Dario and C. Laschi, “An Expected Perception Architecture using Visual 3D Reconstruction for a Humanoid Robot”, in IEEE/RJS International Conference on Intelligent Robots and Systems – IROS’11, San Francisco, 2011.
• E. Falotico, D. Zambrano, G. G. Muscolo, L. Marazzato, P. Dario, C. Laschi, (2010). “Implementation of a bio-inspired visual tracking model on the iCub robot”. Proceedings of 19th IEEE International Symposium in Robot and Human Interactive Communication 2010,Viareggio, Italy.
• E. Franchi, E. Falotico, D. Zambrano, G. G. Muscolo, L. Marazzato, P. Dario and C. Laschi (2010) “A comparison between two bio-inspired adaptive models of Vestibular Ocular Reflex (VOR) implemented on the iCub robot”. Proceedings of Humanoids 2010, 10th IEEE International Conference on Humanoid Robot, Nashville, USA.