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Information und/oder Infrastruktur - Transformation gestalten: Wünsche, Herausforderung, Realität
Get PDFSondertermin zur Verabschiedung des ltd. Direktors der Universitätsbibliothek Bielefeld Dr. Michael Höppne
Edge and plane classification with a biomimetic iCub fingertip sensor
Get PDFThe exploration and interaction of humanoid robots with the environment through tactile sensing is an important task for achieving truly autonomous agents. Recently much research has been focused on the development of new technologies for tactile sensors and new methods for tactile exploration. Edge detection is one of the tasks required in robots and humanoids to explore and recognise objects. In this work we propose a method for edge and plane classification with a biomimetic iCub fingertip using a probabilistic approach. The iCub fingertip mounted on an xy-table robot is able to tap and collect the data from the surface and edge of a plastic wall. Using a maximum likelihood classifier the xy-table knows when the iCub fingertip has reached the edge of the object. The study presented here is also biologically inspired by the tactile exploration performed in animals
From Penguins to Parakeets: a Developmental Approach to Modelling Conceptual Prototypes
Get PDFThe use of concepts is a fundamental capacity underlying complex, human-level cognition. A number of theories have explored the means of concept representation and their links to lower-level features, with one notable example being the Conceptual Spaces theory. While these provide an account for such essential functional processes as prototypes and typicality, it is not entirely clear how these aspects of human cognition can arise in a system undergoing continuous development - postulated to be a necessity from the developmental systems perspective. This paper seeks to establish the foundation of an approach to this question by showing that a distributed, associative and continuous development mechanism, founded on principles of biological memory, can achieve classification performance comparable to the Conceptual Spaces model. We show how qualitatively similar prototypes are formed by both systems when exposed to the same dataset, which illustrates how both models can account for the development of conceptual primitives
On 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
Trends in wissenschaftllichen Publikationsformaten / Repräsentation mehrteiliger Publikationen am Beispiel Universität Bielefeld
No full textEmergent Spontaneous Movements Based on Embodiment: Toward a General Principle for Early Development
Get PDFWe investigate whether spontaneous movements, which initiate and guide early development in animals, can be accounted for by the properties underlying embodiment. We constructed computer and robotic models of several biological species with biologically plausible musculoskeletal bodies and nervous systems, and extracted the embodied and motor networks based on inter-muscle connectivities. In computer simulations and robot experiments, we found that the embodied and motor networks had similar global and local topologies, suggesting the key role of embodiment in generating spontaneous movements in animals