BieColl - Bielefeld eCollections
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Subject-specific pilots - linking data and publications across domains and infrastructures in the FP7 project OpenAIREplus
Get PDFOn a design of a torque sensor for the iCub humanoid robot
Get PDFThe paper presents the evaluation process of a first version of the one axis torque sensor designed for the iCub humanoid robot. Newly designed strain gauges equipped sensor was found to show a significant readouts hysteresis, therefore several tests were run to define the reason of the hysteresis. Some of the design issues met while testing the new sensor are discussed including the screws connection and relative rigidity of the sensor's elements analyses. Verification of the assembly procedure is also included. Tests revealed several problems on both design stage and exploitation of the sensor. Possible solutions to the encountered problems are further proposed
Towards Spatial Perception: Learning to Locate Objects From Vision
Get PDFOur humanoid robot learns to provide position estimates of objects placed on a table, even while the robot is moving its torso, head and eyes (cm range accuracy). These estimates are provided by trained artificial neural networks (ANN) and a genetic programming (GP) method, based solely on the inputs from the two cameras and the joint encoder positions. No prior camera calibration and kinematic model is used. We find that ANN and GP are both able to localise objects robustly regardless of the robot's pose and without an explicit kinematic model or camera calibration. These approaches yield an accuracy comparable to current techniques used on the iCub
